Master's Course in Automation Engineering and Robotics
Academic Year 2021/2022
(last update: 06/03/22)
- Monday, 10:30-12:30
- Tuesday, 10:30-12:30
Lectures are taught in blended mode in class (Room NA-II-A8 in Agnano complex) and remotely through the Microsoft Teams (MT) platform. At this link, you can find the documentation and quick guides. Students can join the MT class through this link.
Send an email to the Instructor to set an appointment. Assistantship can also be provided via the MT platform.
Monday, 12.30-13.30 at Agnano Campus
Wednesday, 15.00-16.00 at the Instructor’s office
To improve interaction among the class, a Telegram channel is available.
Aim of the Course
The course aims to provide an overview of the tools employed to model, plan, and control wheeled robots, unmanned aerial and underwater vehicles, and legged robots. After a recap about differential geometry, kinematics and dynamics of wheeled robots are derived, with particular focus on nonholonomic constraints. Planning and control methodologies are presented. The dynamics and control design of aerial vehicles are then explained. A sketch regarding aerodynamics effects and autonomous aerial manipulation is then introduced. Underwater vehicles are addressed through their dynamics, sensors, actuators, and control design. Finally, a basic overview of legged robots is presented.
- B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics - Modelling, Planning and Control, Springer, London, 2009, ISBN 978-1-84628-641-4
- A. Ollero, B. Siciliano (Eds.), Aerial Robotic Manipulation, Springer, Berlin, 2019, ISBN 978-3-030-12945-3
- G. Antonelli, Underwater Robots, 3rd Ed., Springer, Berlin, ISBN 978-3-319-02877-4
See the Syllabus above for a complete list of references.
- Click here to download the PDF file: Course presentation
- Click here to download the PDF file: Introduction & Recap
Grading policy can be downloaded here.