To give the students an in-depth view into the software tools to design, develop and operate autonomous systems. The students should be able to design/use software frameworks for any type autonomous system (eg: mobile robots, manipulators. UAVs). The course aims to provide real life experience by employing real hardware and software. En studerende, der fuldt ud har opfyldt kursets mål, vil kunne:

• Designe komponenter til styring af autonome systemer
• Vælge komponenter i ROS
• Forstå installation og konfigurering af ROS
• Forklare forskellen på hård og blød realtid
• Forklare styring af en robotarm med ROS
• Fejlfinde processkommunikation
• Verificere timing i robotsoftware
• Dokumentere software til autonome systemer
• Implementerer autonom navigering af robotagenter
• Re-use High-level perception systems
• Simulere autonome robotter

Introduction to Robot Software Architectures. Introduction to ROS, for execution and simulation of Robotic systems. Structure of software packages for autonomous systems. Re-usability of source code. Trajectory Planning and Execution for Robot Manipulators. Multi-sensor integration and simulation. Autonomous Mobile Robots: Localization, Mapping, Path Planning, Obstacle Avoidance. Multi-layer architectures for autonomous robot operation. State Machines and Behavioral Trees. Real -life robot operation via an obligatory project task, as a prerequisite to the exam.
Written Project Report. 22. april, 2021