700.702 (23S) Control of Autonomous Systems

Sommersemester 2023

Anmeldefrist abgelaufen.

Erster Termin der LV
08.03.2023 15:00 - 16:30 B04.1.06 On Campus
... keine weiteren Termine bekannt

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

Liste der Termine wird geladen...

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

Im Fall von online durchgeführten Prüfungen sind die Standards zu beachten, die die technischen Geräte der Studierenden erfüllen müssen, um an diesen Prüfungen teilnehmen zu können.

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 Benotungsschema

Position 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)
  • 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)
  • 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)
  • 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)
  • 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)
  • 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)
  • 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)

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)