Prof. Giuseppe Oriolo
Dipartimento di Ingegneria Informatica, Automatica e Gestionale
Sapienza Università di Roma
| timetable | 26 Sept - 20
Dec 2024, Mon 10:00-12:00, Tue 10:00-12:00, Thu 14:00-16:00, room B2 DIAG |
| office hours | room A209
(DIAG, Via Ariosto 25) by appointment |
| oriolo [at] diag [dot] uniroma1 [dot] it | |
| AMR website | http://www.diag.uniroma1.it/~oriolo/amr |
| AMR Google Group | AMR_GG (membership is restricted, see below) |
Important news
Students
that in 24/25 will be enrolled in the 2nd year of
their master should ask to join the AMR
Google Group as soon as possible. Use
your Sapienza student account (@studenti.uniroma1.it) and enter your first
+ last name in "Display Name" and your master
program code (i.e., "MARR", "MCER",
"Erasmus"...) in "Reason for joining". Please refrain from
asking to join if you will not be enrolled in the 2nd year
in 24/25.
Audience
This 6-credit course can be taken by students of the
Master Programs in "Artificial Intelligence and Robotics" and in "Control Engineering" of Sapienza University of Rome.
Objective
The course presents the
basic planning/control methods for achieving mobility and
autonomy in mobile robots.
Preliminary
syllabus for 2024/2025
Textbooks
- Siciliano, Sciavicco,
Villani, Oriolo, Robotics:
Modelling, Planning and Control, 3rd Edition,
Springer, 2009 (also available in Italian by McGraw-Hill)
[chapters 11 and 12 cover
lectures on Configuration space, Wheeled Mobile Robots 1-5,
Localization 1, Motion Planning 1-3]
Miscellaneous Material
- 2024/2025: Midterm Class test with solution - Lectures from previous
years:
* An introduction to the NAO
humanoid (slides)
* Motion planning in practice: An
introduction to Kite and V-REP (slides)
* Case study: Vision-based localization and
navigation for humanoid robots (slides)
* Case study: Whole-body motion planning
for humanoid robots (slides)
* Case study: Real-time evasive motions for
humanoid robots (slides)
* Case study:
Collision in human-robot collaboration: Avoidance, detection,
and reaction (slides)
*
Case study: Visual servoing for Unmanned Aerial Vehicles (slides)
- A control brush-up:
* a review of stability theory
* basics of stabilization via feedback (in Italian)
- How
to read a research paper (written for RPI's students but good for
everyone)
Grading
Students who are enrolled
in the 2nd year can pass the exam via midterm
test (50%) + final project (50%); or midterm test (50%) + final
test (50%). Otherwise, one must take take
a conventional exam, which may be written and/or oral.