From Luca Bascetta
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The aim of this course is to introduce the student to the fundamental aspects of modelling, planning and control for mobile and autonomous robots, and mobile manipulators.

The course covers the main aspects of mobile robotics and mobile manipulation, making reference to indoor, outdoor and off-road environments. Classical and modern planning and control techniques are introduced.

At the end of the course, a case study is presented to show the application of planning and control methodologies to a realistic problem.

The course can be taken as a standalone 5 credits course or as a module of the integrated course Control of industrial and mobile robots, together with Control of industrial robots.


Lecture timetable

The course is composed by a blending of lectures by the course teacher, and exercises by a teaching assistant.

Tuesday 17.15-19.15 (Online class)
Wednesday 13.15-15.15 (Online class)

Teaching material

Lectures

  1. Course organization
  2. Course introduction
  3. Kinematics of mobile robots
  4. Dynamics of mobile robots
  5. Introduction to simulation tools
  6. Path and trajectory planning
  7. Trajectory tracking
  8. Mobile manipulation
  9. Case studies

Exercises

  1. Kinematics of mobile robots
  2. Kinematics and dynamics of mobile robots
  3. Exam example


Labs

Software setup for ROS labs

  1. Introduction to ROS
  2. Introduction to ROS with Matlab/Simulink
  3. A mobile robot simulator
  4. Planning with Matlab
  5. A trajectory tracking controller
  6. A trajectory tracking and obstacle avoidance controller

Past exams (Control of Mobile Robots)

2018/2019 January (solution), February, July 1st, July 2nd, September
2019/2020 January (solution), February, June, July, September
2020/2021 January, February, June, July, September

Past exams (Control of Industrial and Mobile Robots)

2018/2019 January (solution), February, July 1st, July 2nd, September
2019/2020 January (solution), February, June, July, September
2020/2021 January, February, June, July, September

Office hours

See "Professor's activities" page on www.polimi.it.

Please, always send me an email before coming to an office hour, or to arrange a meeting outside office hours.

Online resources

The following are links to online sources which might be useful to complement the material above