Basics of mobile robotics

MICRO-452

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Basics of mobile robotics

Objective
The objective of this course is to provide the basics required to develop autonomous mobile robots. Both hardware (energy, locomotion, sensors, embedded electronics, system integration) and software (control architectures, control theory, localization, trajectory planning, high-level control) aspects will be tackled. Theory will be deepened by exercises and application to simulated robots. Case studies will allow to make all this more concrete.

Thymio + cables + camera returns: 

Wed Dec 18 between 9h00-10h00 ME B3 30

Wed Dec 18 between 14h00-15h00 ME B3 30

Thu Dec 19  between 9h00-10h00 ME B3 30

Thu Dec 19  between 14h00-15h00 ME B3 30

Course organization

This course will start in hybrid mode with:

  • lecture given in CE2 (Tuesday from 15:15 to 17:00)
  • zoom live transmission of the lecture
  • recording of the course
  • exercices in Polydôme
  • both local and remote answer to questions

The recording of the lecture will be made available on moodle, like the rest of material.

Exercises and project are made in groups and are based on a Thymio robot. Each student will be able to borrow one.

The case studies are interactive and based on your attendance, and will not be recorded. The main idea of the case studies is to have a discussion in class, making no sense to be recorded. Same for the exercise sessions and the project preparation.


Schedule and locations

The first session will be a hybrid one for two hours, followed by exercises. Then each week we will have:

  • a case study interactive session from 15:15 to 16,
  • then a course of one hour,
  • then 2 hours of exercises from 17:15 to 19 (All the exercises are compulsory)

Interactive exercise sessions: Sept 10, Sept 17, Oct 8, Oct 29, Nov 12

All lectures and exercises will be in the zoom session: https://epfl.zoom.us/j/65871891031

The course of this week gives an introduction to the topics presented during the semester and introduces several robot design rules.

Perception, vision (1)

  • From 3D to 2D
  • feature extraction

Perception, vision (2)

  • Machine learning in vision
  • 3D

Navigation (1) : Obstacle Avoidance

  • Sensors for local navigation
  • Local navigation strategies

External ressources: Siegwart Nourbakhsh, 2004 : Chapter 4

Navigation (2) : Path Planning

Interactive session (with Quizzes etc...) 

Please be present for the exercise session between 17h15-18h50 to participate in the experiment.

Recall: To thank you for your time and participation (and due to the limited number of participants), we’ve increased the rewards:

20 CHF for participating all 3 sessions 

10 CHF for participating the last 2 sessions 

5 CHF for participating the last session


Week 6: Localisation (1) 

Enjoy your holidays

Week 7: Uncertainties (1)

Please be present (physically or remotely) for the exercise session between 17h15-19h00 to participate in the experiment.

Week 8 : Uncertainties (2)

Week 9: 

Course: case studies from 15:15 to 16:00, then SLAM and intro to project in CE2 , then team formation and project definition from 17:00 to 19:00 at Polynôme Compulsory 

Week 10: Case studies , only one hour starting at 15:15, then projects in Polydôme from 16h00. The TAs will be present: take full advantage of this opportunity to ask questions and resolve any uncertainties. With the project deadline fast approaching, it's essential to clarify doubts and plan effectively.

Week 11: No course at 15:15, only project in Polydôme from 16:15 to 19:00.


Week 12: No course at 15:15, only project in Polydôme from 16:15 to 19:00.

Deadline for submitting the project on Moodle: Thursday December 5th, 23:00


Project presentations take place on zoom at the address https://epfl.zoom.us/j/61302476939

A waiting room allows you to wait there until the previous group has finished.

Please prepare your Student Card for verification.


Thymio + cables + camera returns: 

Wed Dec 18 between 9h00-10h00 ME B3 30

Wed Dec 18 between 14h00-15h00 ME B3 30

Thu Dec 19  between 9h00-10h00 ME B3 30

Thu Dec 19  between 14h00-15h00 ME B3 30


Week 14

Mock exam instead of the course, Tuesday, 15:30-17:45, in CE 1 2


then correction from 18:00 to 19:00, in CE 1 2 and on zoom

Thymio + cables + camera returns: 

Wed Dec 18 between 9h00-10h00 ME B3 30

Wed Dec 18 between 14h00-15h00 ME B3 30

Thu Dec 19  between 9h00-10h00 ME B3 30

Thu Dec 19  between 14h00-15h00 ME B3 30



Exam

The exam will take place on Wednesday 29.1.2025 at 15:15 in rooms CO6, CE 1 1, CE 1 3 and CE 1 4.


  • This is an exam that you will run in the above mentioned rooms on moodle, starting at 15:15 on Wednesday January 29, with a standard duration of 90 minutes.
  • Which student is in which seats of which of the 4 rooms is defined in advance. The students seated in CE 1 1, CE 1 3 and CE 1 4 need to bring their own computer and have the exam on it.
  • The exam includes 10 questions exactly as in the mock exam. The answer need to be right / coherent in the multiple choice answer, but also at the level of the explanation (reasoning) you give to justify your answer. A right answer with a wrong justification is considered as incorrect. A wrong answer with a good justification can be considered correct. The answers items can be shuffled; when giving the justification refer to the answer content and not its numbering or position among the answers.
  • The exam is open book, you can look on your notes, on the slides, on the web, where you want. Only communication with any other people is forbidden. The persons supervising the room can ask you to show some windows and check that you are respecting the rules.