Electrical Engineering

Introduction: applications, problems, architectures. Configuration Space. Wheeled Mobile Robots: mechanics of mobile robots, kinematic models of mobile robots, path/trajectory planning, control: trajectory tracking and regulation. Perception: sensors for mobile robots. Localization: odometric localization, Kalman Filter localization, landmark-based localization and SLAM. Motion Planning: retraction and cell decomposition, probabilistic planning, artificial potential fields. Humanoid Robots: introduction, dynamic modeling, gait generation and control. Case studies.

No prerequisites

Slides and studying material on the course website. B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and Control, Springer, 2009.

Attendance is recommended but not mandatory.

(1) Midterm test + final project, or (2) final exam

Classroom lectures

Introduction: applications, problems, architectures. Configuration Space. Wheeled Mobile Robots: mechanics of mobile robots, kinematic models of mobile robots, path/trajectory planning, control: trajectory tracking and regulation. Perception: sensors for mobile robots. Localization: odometric localization, Kalman Filter localization, landmark-based localization and SLAM. Motion Planning: retraction and cell decomposition, probabilistic planning, artificial potential fields. Humanoid Robots: introduction, dynamic modeling, gait generation and control. Case studies.

No prerequisites

Slides and studying material on the course website. B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and Control, Springer, 2009.

Attendance is recommended but not mandatory.

(1) Midterm test + final project, or (2) final exam

Classroom lectures