Instructor: Giuseppe Oriolo
Course web page: www.diag.uniroma1.it/~oriolo/amr
Credits: 6
Infostud code: 1022775

Objectives

The course presents the basic methods for achieving mobility and autonomy in robots. The student will be able to analyze and design architectures, algorithms and modules for planning, control and localization of autonomous mobile robots.

Program

Introduction to mobile robotics. Architectures for autonomy. Fundamentals of mobile robots. Configuration space. Modeling of wheeled and legged mobile robots. Path and trajectory planning in open space. Motion planning among obstacles. Motion control: trajectory tracking and posture stabilization. Humanoid robots: dynamics and control of locomotion. Perception: map building and localization. Case studies.

Type of exam: Written test, Project

Reference texts

• Siciliano, Sciavicco, Villani, Oriolo, "Robotics: Modelling, Planning and Control," 3rd Edition, Springer, 2009
• Choset, Lynch, Hutchinson, Kantor, Burgard, Kavraki, Thrun, "Principles of Robot Motion: Theory, Algorithms and Implementations," MIT Press, 2005
• Siciliano, Khatib (Eds.), "Springer Handbook of Robotics", Springer, 2008