The course, which gives 12 ECTS credits, is organized in 4 modules. Each module consists of a series of lectures/seminars given by internal or external researchers in the field. For 2014/2015, the modules will be the following:
- Module 1 (September 29 - extended to November 10, 2014): Least-squares estimation and SLAM (Giorgio Grisetti)
- Module 2 (November 12 - December 18, 2014): Modeling and control of a quadrotor UAV (Marilena Vendittelli)
- Module 3 (March 3 - April 8, 2015): Locomotion and haptic interfaces for VR exploration (Alessandro De Luca)
- Module 4 (April 13 - May 29, 2015): Analysis and Control of Multi-Robot Systems (Paolo Robuffo Giordano, Giuseppe Oriolo).
For additional details and material, access the webpage of the individual modules by following the above links, which will be updated in due time.
- 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 2-10]
- Siciliano, Khatib, Eds., Handbook of Robotics, Springer, 2008
[chapters 16 and 26 cover lectures 12-13 and 11, respectively]
- Choset, Lynch, Hutchinson, Kantor, Burgard, Kavraki, Thrun, Principles of Robot Motion: Theory, Algorithms and Implementations, MIT Press, 2005
[a useful reference for the whole course; chapter 8 covers lectures 15-16]
- Siegwart, Nourbakhsh, Introduction to Autonomous Mobile Robots, MIT Press, 2004
- Thrun, Burgard, Fox, Probabilistic Robotics, MIT Press, 2005
All these books are available in the DIAG library.
- 2013/2014: Final projects proposal and assignments
- 2013/2014: Final Class test with solution and results
- 2012/2013: Final projects proposal and assignments
- 2012/2013: Final Class test with solution and results
- 2011/2012: Final projects proposal and assignments
- 2011/2012: Final Class test with solution and results
- 2010/2011: Final projects proposal and assignments
- 2009/2010: Final projects
- 2010/2011: Class test 1 with solution and results, Class test 2 with solution and results
- 2009/2010: Class test 1 with solution, Class test 2 with solution
- Control brush-up:
* a review of stability theory
* basics of stabilization via feedback (in Italian)
- MATLAB code:
* a PRM-based planner for a 2R manipulator (12_7.zip)
* an RRT-based planner for a unicycle (12_8.zip)
* a 2D point planner based on a numerical navigation function (12_13.zip)
Look for the s12_x.m (x=7,8,13) file in each unzipped folder - these are the files to be run in MATLAB. The names are due to the fact that these are the solutions ("s") of problems 12.x of the book "Robotics: Modelling, Planning and Control". Inside each folder there is also a ReadMe file with specific instructions.
- An application for computing C-obstacles for a 2R manipulator (2R_C_Space). Includes a topologically correct representation of the C-space (a torus) and an RRT-planner. The application runs on Mac, Linux and PC; see the instructions in the README file. An email address for sending feedback and bug reports to the developer (Pouya Mohammadi) is contained in the "About" tab.