Robot and Swarm Navigation

Vortragende/r (Mitwirkende/r)
  • Armin Dammann [L]
  • Young-Hee Lee
Umfang4 SWS
SemesterSommersemester 2023




After completion of the module students are able to - understand cooperative positioning principles - understand and apply estimation theory methods for the analysis of swarm navigation performance - design a swarm navigation system based on radio ranging - transfer the learned knowledge to a wide range of applications and environments, which range from indoors, underwater to extraterrestrial exploration.


- Introduction, challenges and objectives - Review of Estimation theory - Inference of position information from radio signals - Design of ranging signals for a robotic swarm - Cooperative radio based localization - Robot constellations for high accuracy mapping and positioning - Robot control for constellation optimization and goal approaching - Simulation/Programming excercises

Inhaltliche Voraussetzungen

A strong mathematical background is expected, especially in signal processing, probability theory and analysis.

Lehr- und Lernmethoden

During the lectures students are instructed in a teacher-centered style. In addition to the individual learning, the students are encouraged to exchange knowledge with their colleagues in solving homework problems. Solutions are discussed in tutorials.

Studien-, Prüfungsleistung

In a written exam of 75 minutes at the end of the semester, students will be asked to solve problems related to swarm navigation, e.g. ranging, cooperative position estimation, applying estimation theory like the Cramer-Rao lower bound, etc.

Empfohlene Literatur

- "Statistical Signal Processing - Estimation Theory"; Steven M. Kay; Prentice Hall Signal Processing Series; ISBN:0-13-345711-7; - "Detection and Estimation: Theory and its Applications"; Thomas Schonhoff and Arthur A.Giordano; Prentice Hall, 1st Edition, 2006; ISBN 0-1308-9499-0; - "Digital Communications"; John G. Proakis; McGraw-Hill, 3rd Edition, 1995; ISBN 0-07-051726-6;