Motivation: The
motivation for this course is to familiarize with algorithms in map
building, exploration, localization, planning and real-time navigation
using concepts from AI, probability theory and statistics.
Lecture1:
References: None
Lecture2:
References: (Familiarization of
PCA, covariance matrices, eigen
values and eigen vectors)
Lectures 3 and 4:
References:
1. Sonar-based real-world mapping
2. Occupancy Grids for Robot
Navigation
3. Forward Sensor Models for Occupancy Grids
4. Coverage Maps
5. Frontier Based Exploration
Lecture 5
References:
1. Grid-Based Navigation for a Mobile Robot
Lecture 6
References:
1. Segment-based localization