# Estimation for Autonomous Mobile Robots

##### Winter 


##### (in German: Estimation for Autonomous Mobile Robots )

<table bgcolor="#7FB3D9" border="1" id="bkmrk-%5Btitle%5D" style="width: 100%; border-collapse: collapse; border-width: 1px; border-style: none;"><colgroup><col style="width: 100%;"></col></colgroup><tbody><tr style="background-color: rgb(235, 243, 249);"><td>##### <span style="color: rgb(0, 104, 180);">**Module-ID:** </span><span style="color: rgb(0, 104, 180);">**FIN-INF-120485** </span>

</td></tr></tbody></table>

<table bgcolor="#7FB3D9" border="1" id="bkmrk-" style="border-collapse: collapse; width: 100%;"><colgroup><col style="width: 14.2515%;"></col><col style="width: 14.2515%;"></col><col style="width: 13.061%;"></col><col style="width: 15.442%;"></col><col style="width: 14.2515%;"></col><col style="width: 14.2515%;"></col><col style="width: 14.2515%;"></col></colgroup><tbody><tr><td class="align-center" style="border: 5px solid rgb(255, 255, 255);"><span style="color: rgb(61, 61, 61);">**Abbreviation**</span>

<span style="color: rgb(61, 61, 61);">AMR </span>

</td><td class="align-center" style="border: 5px solid rgb(255, 255, 255);"><span style="color: rgb(61, 61, 61);">**Credit Points**</span>

<span style="color: rgb(61, 61, 61);">6 </span>

</td><td class="align-center" style="border: 5px solid rgb(255, 255, 255);"><span style="color: rgb(61, 61, 61);">**Semester**</span>

<span style="color: rgb(61, 61, 61);">Winter </span>

</td><td class="align-center" style="border: 5px solid rgb(255, 255, 255);"><span style="color: rgb(61, 61, 61);">**Term**</span>

<span style="color: #3d3d3d;">starting at 1. </span>

</td><td class="align-center" style="border: 5px solid rgb(255, 255, 255);">**<span style="color: rgb(61, 61, 61);">Duration</span>**

<span style="color: rgb(61, 61, 61);">1 Semester </span>

</td><td class="align-center" style="border: 5px solid rgb(255, 255, 255);"><span style="color: rgb(61, 61, 61);">**Language**</span>

<span style="color: rgb(61, 61, 61);">english</span>

</td><td class="align-center" style="border: 5px solid rgb(255, 255, 255);"><span style="color: rgb(61, 61, 61);">**Level**</span>

<span style="color: rgb(61, 61, 61);">Master </span>

</td></tr></tbody></table>

<table border="1" id="bkmrk-verantwortung%3A-verwe" style="border-collapse: collapse; width: 100%; height: 124.8px; border-width: 1px; border-style: none;"><colgroup><col style="width: 24.7879%;"></col><col style="width: 75.2121%;"></col></colgroup><tbody><tr style="height: 35.4px;"><td style="height: 35.4px;">**Link:**</td><td style="height: 35.4px;">[ LSF](https://lsf.ovgu.de/qislsf/rds?state=wsearchv&search=1&subdir=veranstaltung&veranstaltung.semester=20262&veranstaltung.dtxt=Estimation+for+Autonomous+Mobile+Robots&P_start=0&P_anzahl=30&P.sort=veranstaltung.dtxt&_form=display "Estimation for Autonomous Mobile Robots")</td></tr><tr><td>**Limited accessability:**</td><td>false </td></tr><tr style="height: 29.8px;"><td style="height: 29.8px;">**Responsibility:**</td><td style="height: 29.8px;">Prof. Dr.-Ing. Benjamin Noack </td></tr><tr style="height: 29.8px;"><td style="height: 29.8px;">**Lecturer:**</td><td style="height: 29.8px;">Prof. Dr.-Ing. Benjamin Noack </td></tr><tr><td>**Classes:**</td><td>- Lecture *Estimation for Autonomous Mobile Robots*
- Exercise *Estimation for Autonomous Mobile Robots*

 </td></tr><tr style="height: 29.8px;"><td style="height: 29.8px;">**Applicability in curriculum:**</td><td style="height: 29.8px;">- M.Sc. INF: Informatik  
- M.Sc. INF: Informatik Wahlpflicht (SPO 2027)  
- M.Sc. INGINF: Informatik  
- M.Sc. INGINF: Ingenieurinformatik  
- M.Sc. WIF: Informatik  
- M.Sc. WIF: Informatik Wahlpflicht (SPO 2027)  
- M.Sc. DKE: Applied Data Science  
- M.Sc. DE: Methoden des Digital Engineering  
- M.Sc. DE: Methoden der Informatik  
- M.Sc. DE: Fachliche Spezialisierung  
- M.Sc. DE: Informatik Wahlpflicht (SPO 2027)  
- M.Sc. DE: Digital Engineering (SPO 2027)  
- M.Sc. DE: Engineering Specialization (SPO 2027)  
- M.Sc. VC: Computer Science  
- M.Sc. VC: Computer Science (SPO 2027)  
  
</td></tr></tbody></table>

**Intended learning outcomes:** Students who complete the course ...

- have an overview of basic problems and methods in parameter and state estimation for mobile systems.
- understand how to develop kinematic models for mobile robots and how to derive discrete-time prediction models.
- are familiar with the required mathematical tools and can derive and apply least-squares methods for localization and tracking of mobile systems, e.g., based on distance measurements.
- have a deep understanding of Kalman filtering and its nonlinear generalizations for dynamic state estimation and localization of mobile systems.

  
**Content:**

- Kinematics, System Models, and Dead Reckoning for Mobile Systems
- Sensor Models and Optimization Methods for Localization and Tracking
- DynamicState Estimation for Real-Time Localization and Tracking
- Linear Kalman Filtering and Nonlinear Generalizations

**Workload:** 56 h contact time 124 h independent study

<table border="1" id="bkmrk-studien-%2Fpr%C3%BCfungslei" style="border-collapse: collapse; width: 100%;"><colgroup><col style="width: 32.0641%;"></col><col style="width: 34.9204%;"></col><col style="width: 33.0155%;"></col></colgroup><tbody><tr><td>**Pre-examination requirements:**</td><td>**Type of examination:**</td><td>**Teaching method / lecture hours per week (SWS):**</td></tr><tr><td></td><td>Oral exam (30 min)

</td><td>- Lecture (2 SWS)
- Exercise (2 SWS)

</td></tr></tbody></table>

<table border="1" id="bkmrk-voraussetzungen-nach" style="font-family: var(--font-body); font-size: 14px; width: 100%;"><colgroup><col style="width: 50%;"></col><col style="width: 50%;"></col></colgroup><tbody><tr><td>**Prerequisites according to examination regulations:**</td><td>**Recommended prerequisites:**</td></tr><tr><td>none

</td><td>Linear Algebra, Analysis

</td></tr></tbody></table>

<table border="1" id="bkmrk-medienformen%3A-litera" style="border-collapse: collapse; width: 100%;"><colgroup><col style="width: 50%;"></col><col style="width: 50%;"></col></colgroup><tbody><tr><td>**Media:**</td><td>**Literature:**</td></tr><tr><td></td><td>Literature will be announced in the lecture.

</td></tr></tbody></table>

**Comments:**