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Networked Mobile Robot Systems

Termine

Lecture Room
Tue, 10:15 - 11:45 h (13.04.2021 - 20.07.2021)   (SRG 2.010) Online
Übung Ort
Wed, 09:15 - 10:00 h (21.04.2021 - 21.07.2021) (SRG 2.010) Online
Wed, 08:15 - 09:00 h (Reserved for oral presentations) (SRG 2.010)

JProf. Fang-JIng Wu is responsible for the lecture for the summer semesters of 2018, 2019, 2020, and 2021.

Registrations:

Please register via the LSF system which will be automatically synchronized with the Moodle system. 

Tools for online teaching: ZOOM

The ZOOM links announced in the Moodle system are valid during the lecture/tutorial time. 

Goals of the Lecture

The course introduces concepts, methods and the performance evaluation of wireless networking, distributed problem solving, cooperative algorithms and swarm-based behavior to accomplish easy deployment and appropriate mission scheduling for networked robotics systems. 

Content

Concept of Operations

    Definitions, Impact and History of Networked Robot Systems, Robot Systems, Use Cases, Business Cases

Information & Communication Technologies

    Mobile Radio Networks, Robust Mesh/Relay Communication Protocols, fast handovers, real-time requirements

Swarm strategies

    Self-learning, controlled mobility, autonomous behavior and learning, distributed systems

Decentralized Mission Scheduling & Task Distribution

    Algorithms for strategic goal and tactical task management, autonomous agents, role models, role switching, allocation of tasks and responsibilities, task vs. communication performance

Performance Evaluation

    Event-Driven Simulation, random generators, system models

    (channel, mobility, protocols), statistical relevance, experiments, analytical modeling

    (Markov state models)

Literature

Slides of all lectures will be supplied online.

Examination

The final exam will be an oral presentation. The presentation includes the following 2 phases:

  •  Proposal presentation: 5-10 minutes, a “short and precise” presentation (10%): Students are expected to propose their interest topics related to the Networked Mobile Robot Systems and do a small literature review on this selected topic.
  •  Final oral presentation: 30 minutes, a full presentation must fulfill the following requirements (90%)

- Review at least 3 quality research papers/projects related to your selected topic.

- This final presentation must contain 1) a summary of research issues in these papers and technical approaches, 2) comparisons between these proposed approaches, and 3) your ideas for potential enhancement or other potential research topics relevant to the selected topic.  

Requirements (Prerequisites)

We assume that the participants have basic knowledge of mathematical modeling. A basic understanding of fundamental control concepts and distributes systems is helpful but not mandatory

Contact

Location & approach

The campus of TU Dort­mund University is located close to interstate junction Dort­mund West, where the Sauerlandlinie A 45 (Frankfurt-Dort­mund) crosses the Ruhrschnellweg B 1 / A 40. The best interstate exit to take from A 45 is “Dort­mund-Eichlinghofen” (closer to South Campus), and from B 1 / A 40 “Dort­mund-Dorstfeld” (closer to North Campus). Signs for the uni­ver­si­ty are located at both exits. Also, there is a new exit before you pass over the B 1-bridge leading into Dort­mund.

To get from North Campus to South Campus by car, there is the connection via Vogelpothsweg/Baroper Straße. We recommend you leave your car on one of the parking lots at North Campus and use the H-Bahn (suspended monorail system), which conveniently connects the two campuses.

TU Dort­mund University has its own train station (“Dort­mund Uni­ver­si­tät”). From there, suburban trains (S-Bahn) leave for Dort­mund main station (“Dort­mund Hauptbahnhof”) and Düsseldorf main station via the “Düsseldorf Airport Train Station” (take S-Bahn number 1, which leaves every 20 or 30 minutes). The uni­ver­si­ty is easily reached from Bochum, Essen, Mülheim an der Ruhr and Duisburg.

You can also take the bus or subway train from Dort­mund city to the uni­ver­si­ty: From Dort­mund main station, you can take any train bound for the Station “Stadtgarten”, usually lines U41, U45, U 47 and U49. At “Stadtgarten” you switch trains and get on line U42 towards “Hombruch”. Look out for the Station “An der Palmweide”. From the bus stop just across the road, busses bound for TU Dort­mund University leave every ten minutes (445, 447 and 462). Another option is to take the subway routes U41, U45, U47 and U49 from Dort­mund main station to the stop “Dort­mund Kampstraße”. From there, take U43 or U44 to the stop “Dort­mund Wittener Straße”. Switch to bus line 447 and get off at “Dort­mund Uni­ver­si­tät S”.

The AirportExpress is a fast and convenient means of transport from Dortmund Airport (DTM) to Dortmund Central Station, taking you there in little more than 20 minutes. From Dortmund Central Station, you can continue to the university campus by interurban railway (S-Bahn). A larger range of international flight connections is offered at Düsseldorf Airport (DUS), which is about 60 kilometres away and can be directly reached by S-Bahn from the university station.

The H-Bahn is one of the hallmarks of TU Dort­mund University. There are two stations on North Campus. One (“Dort­mund Uni­ver­si­tät S”) is directly located at the suburban train stop, which connects the uni­ver­si­ty directly with the city of Dort­mund and the rest of the Ruhr Area. Also from this station, there are connections to the “Technologiepark” and (via South Campus) Eichlinghofen. The other station is located at the dining hall at North Campus and offers a direct connection to South Campus every five minutes.

The facilities of TU Dortmund University are spread over two campuses, the larger Campus North and the smaller Campus South. Additionally, some areas of the university are located in the adjacent “Technologiepark”.

Site Map of TU Dortmund University (Second Page in English).