700.702 (23S) Control of Autonomous Systems
Überblick
- Lehrende/r
- LV-Titel englisch Control of Autonomous Systems
- LV-Art Kurs (prüfungsimmanente LV )
- LV-Modell Präsenzlehrveranstaltung
- Semesterstunde/n 2.0
- ECTS-Anrechnungspunkte 3.0
- Anmeldungen 14 (30 max.)
- Organisationseinheit
- Unterrichtssprache Englisch
- LV-Beginn 08.03.2023
- eLearning zum Moodle-Kurs
Zeit und Ort
LV-Beschreibung
Intendierte Lernergebnisse
The goal of this course is to deepen the participant's a understanding of modeling different mobile platforms of the accompanying lecture on selected examples. Once a model is derived in view of its kinematics and dynamics, different control schemes can be applied. We will cover mobile robots platforms from legged, wheeled, fix-wing, and rotary wing. At the end of the course, the student will be able to define and program the model of such platform and a corresponding simple controller.
Lehrmethodik
Weekly exercise sheets with presentation and discussion by the students.
Inhalt/e
- Coordinate transformations (including rotation matrices, quaternions, Euler angles, etc)
- Kinematics and dynamics of robot arms
- Modeling and control of legged robots
- Wheeled robots including wheel contstraints and simple control scheme
- Path planning methods for ground robots
- Dynamics, modeling, and control of fix-wing airplanes
- Dynamics, modeling, and control of rotary-wing helicopters
Erwartete Vorkenntnisse
- Analysis
- Linear Algebra
- Control theory, system theory
- Fundamentals of robotics
- Basic knowledge in Matlab programming
Prüfungsinformationen
Prüfungsmethode/n
- Monthly exercise reports
- In-class participation
- Oral talk at the end of semester
Prüfungsinhalt/e
All contents taught in the corresponding lecture.
Beurteilungskriterien/-maßstäbe
The number of submitted exercises will directly reflect the grade received ranging from 1-5, with 50 % of all exercise points needed for passing this lecture. Additionally an oral talk at the end of the semester will contribute to 15% of the final grade.
Beurteilungsschema
Note BenotungsschemaPosition im Curriculum
- Masterstudium Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Fach: Information and Communications Engineering: Supplements (NC, ASR)
(Wahlfach)
-
Wahl aus dem LV-Katalog (Anhang 4) (
0.0h VK, VO, KU / 14.0 ECTS)
- 700.702 Control of Autonomous Systems (2.0h KS / 3.0 ECTS)
-
Wahl aus dem LV-Katalog (Anhang 4) (
0.0h VK, VO, KU / 14.0 ECTS)
-
Fach: Information and Communications Engineering: Supplements (NC, ASR)
(Wahlfach)
- Masterstudium Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Fach: Technical Complements (NC, ASR)
(Wahlfach)
-
Wahl aus dem LV-Katalog (Anhang 5) (
0.0h VK, VO, KU / 12.0 ECTS)
- 700.702 Control of Autonomous Systems (2.0h KS / 3.0 ECTS)
-
Wahl aus dem LV-Katalog (Anhang 5) (
0.0h VK, VO, KU / 12.0 ECTS)
-
Fach: Technical Complements (NC, ASR)
(Wahlfach)
- Masterstudium Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Fach: Information and Communications Engineering: Supplements (NC, ASR)
(Wahlfach)
-
Wahl aus dem LV-Katalog (Anhang 4) (
0.0h VK, VO, KU / 14.0 ECTS)
- 700.702 Control of Autonomous Systems (2.0h KS / 3.0 ECTS)
-
Wahl aus dem LV-Katalog (Anhang 4) (
0.0h VK, VO, KU / 14.0 ECTS)
-
Fach: Information and Communications Engineering: Supplements (NC, ASR)
(Wahlfach)
- Masterstudium Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Fach: Technical Complements (NC, ASR)
(Wahlfach)
-
Wahl aus dem LV-Katalog (Anhang 5) (
0.0h VK, VO, KU / 12.0 ECTS)
- 700.702 Control of Autonomous Systems (2.0h KS / 3.0 ECTS)
-
Wahl aus dem LV-Katalog (Anhang 5) (
0.0h VK, VO, KU / 12.0 ECTS)
-
Fach: Technical Complements (NC, ASR)
(Wahlfach)
- Masterstudium Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Fach: Autonomous Systems and Robotics: Advanced (ASR)
(Wahlfach)
-
Wahl aus dem LV-Katalog (siehe Anhang 3) (
0.0h VK, VO / 30.0 ECTS)
- 700.702 Control of Autonomous Systems (2.0h KS / 3.0 ECTS)
-
Wahl aus dem LV-Katalog (siehe Anhang 3) (
0.0h VK, VO / 30.0 ECTS)
-
Fach: Autonomous Systems and Robotics: Advanced (ASR)
(Wahlfach)
- Masterstudium Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Fach: Autonomous Systems and Robotics (WI)
(Wahlfach)
-
Wahl aus dem LV-Katalog (siehe Anhang 3) (
0.0h VK, VO / 30.0 ECTS)
- 700.702 Control of Autonomous Systems (2.0h KS / 3.0 ECTS)
-
Wahl aus dem LV-Katalog (siehe Anhang 3) (
0.0h VK, VO / 30.0 ECTS)
-
Fach: Autonomous Systems and Robotics (WI)
(Wahlfach)
- Masterstudium Information and Communications Engineering (ICE)
(SKZ: 488, Version: 22W.1)
-
Fach: Autonomous Systems and Robotics: Advanced
(Wahlfach)
-
2.2 Control of Autonomous Systems (
0.0h KS / 3.0 ECTS)
- 700.702 Control of Autonomous Systems (2.0h KS / 3.0 ECTS)
-
2.2 Control of Autonomous Systems (
0.0h KS / 3.0 ECTS)
-
Fach: Autonomous Systems and Robotics: Advanced
(Wahlfach)
Gleichwertige Lehrveranstaltungen im Sinne der Prüfungsantrittszählung
-
Sommersemester 2024
- 700.702 KS Control of Autonomous Systems (2.0h / 3.0ECTS)
-
Sommersemester 2022
- 700.702 KS Control of Autonomous Systems (2.0h / 3.0ECTS)
-
Sommersemester 2021
- 700.702 KS Control of Autonomous Systems (2.0h / 3.0ECTS)
-
Sommersemester 2020
- 700.702 KS Control of Autonomous Systems (2.0h / 3.0ECTS)
-
Sommersemester 2019
- 700.702 KS Control of Autonomous Systems (2.0h / 3.0ECTS)
-
Sommersemester 2018
- 700.702 KS Control of Autonomous Systems (2.0h / 3.0ECTS)
-
Sommersemester 2017
- 700.702 KS Control of Autonomous Systems (2.0h / 3.0ECTS)
-
Sommersemester 2016
- 700.702 KS Control of Autonomous Systems (2.0h / 3.0ECTS)