Lecture 1: Visual Navigation for Flying Robots (Dr. Jürgen Sturm)

Topics covered: - Introduction - History of Mobile Robotics - Quadrocopters - Robot Operating System Course website: http://vision.in.tum.de/teaching/ss2013/visnav2013 Speaker: Dr. Jürgen Sturm http://vision.in.tum.de/members/sturmju 00:00:04 Welcome 00:00:21 Advertisement for Machine Learning Course 00:02:01 Demo Flight with Parrot Ardrone 00:04:54 Organization 00:05:46 Who Are We? 00:07:02 Who Are You? 00:08:15 Goal of this Course 00:09:01 Course Website 00:10:06 Course Material 00:10:33 Lecture Plan 00:12:25 Lab Course 00:14:21 Exercises 00:15:21 Group Assignment and Lab Schedule 00:17:50 Lab Course 00:19:06 Safety Warning 00:20:44 Agenda for Today 00:21:14 General Background 00:22:00 History 00:22:44 Stanfort Cart 00:25:20 Shakey the Robot 00:27:57 Rhino and Minerva 00:29:57 Roomba 00:30:55 Neato 00:31:48 Darpa Grand Challenge 00:33:24 Kiva Robotics 00:33:25 For Lift Robots 00:34:52 For Lift Robots 00:35:21 Quadrocopters 00:37:09 Aggressive Maneuvers 00:38:34 Autonomous Construction 00:40:13 Mapping with a Quadrocopter 00:41:22 Our Own Recent Work 00:43:02 Current Trends 00:44:19 Flying Robots 00:47:12 Application Domains of Flying Robots 00:49:30 Quadrocopter Platforms 00:50:03 Flying Principles 00:51:26 Helicopter 00:52:09 Quadrocopter 00:53:06 Basic Motions 00:55:28 Autonomous Flight 00:56:36 Challenges 00:58:07 Roboticist Ethics 00:59:16 Robot Ethics 00:59:37 Robot Design 00:59:56 Robot Hardware/Components 01:02:43 Evolution of Paradigms in Robotics 01:04:55 Classical / hierarchical Paradigm 01:05:48 Classical Paradigm: Stanford Cart 01:06:18 Classical Paradigm as horizontal/functional decomposition 01:06:49 Characteristics of hierarchical paradigm 01:07:30 Reactive Paradigm 01:08:19 Reactive paradigm as Vertical Decomposition 01:08:36 Characteristics of Reactive Paradigm 01:09:34 Subsumption Architecture 01:09:43 Example 01:11:09 Roomba Robot 01:11:32 Navigation with Potential Fields 01:12:26 Primitive Potential Fields 01:12:57 Example: Reach Goal and Avoid Obstacles 01:13:26 Corridor Following Robot 01:14:07 Characteristics of Potential Fields 01:14:56 Hybrid deliberative/reactive Paradigm 01:15:15 Modern Robot Architectures 01:16:00 Best Practices for Robot Architectures 01:17:49 Robotic Middleware 01:19:19 Simple Architecture for Navigation 01:20:22 Example: Stanley's Software Architecture 01:21:21 Example: PR2 Software Architecture 01:22:48 Communication Paradigms 01:23:40 Forms of Communication 01:24:50 Push 01:25:30 Pull 01:26:10 Publisher/Subscriber 01:27:10 Service Calls 01:28:00 Actions 01:28:20 ROS 01:28:40 Concepts in ROS 01:29:30 Software Management 01:30:30 Useful Tools 01:31:00 Questions