Master's Course in Automation Engineering and Robotics
Academic Year 2020/2021

Instructor: Prof. Fabio Ruggiero Questo indirizzo email è protetto dagli spambots. E' necessario abilitare JavaScript per vederlo.

(last update: 09/06/21)

Class Schedule

  • Tuesday, 10:30-12:30
  • Wednesday, 14:00-16:00

Lectures are taught 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.

Teaching Assistantship

Send an email to the Instructor to set an appointment. Assistantship will be provided via the MT platform.

Telegram Channel

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.

Syllabus

Click here for the course syllabus, while the register of each lesson can be found on the instructor's website.

References

Main textbook

Further readings

See the Syllabus above for a complete list of references.

Lecture Notes

  • Click here to download the PDF file for Lesson 0 (Introduction to the course)
  • Click here to download the PDF file for Lesson 1 (Introduction to mobile robotics. Common problems in mobile robotics. Classifications of wheels and wheeled robots)
  • Click here to download the PDF file for Lesson 2 (Recap about differential geometry (Part I))
  • Click here to download the PDF file for Lesson 3 (Recap about differential geometry (Part II). Nonholonomic constraints. Integrability condition)
  • Click here to download the PDF file for Lesson 4 (Kinematic models (unicycle, bicycle). Dynamic model (Part I))
  • Click here to download the PDF file for Lesson 5 (Dynamic model (Part II). Path planning and timing law)
  • Click here to download the PDF file for Lesson 6 (Flat outputs. Path planning. Trajectory planning)
  • Click here to download the PDF file for Lesson 7 (Optimal trajectories. Trajectory tracking (control based on approximate linearization))
  • Click here to download the PDF file for Lesson 8 (Trajectory tracking (nonlinear control, input/output linearization). Posture regulation)
  • Click here to download the PDF file for Lesson 9 (Odometric localization.Motion planning problem. Configuration space)
  • Click here to download the PDF file for Lesson 10 (C-obstacle. Probabilistic roadmap method. Bread-first search)
  • Click here to download the PDF file for Lesson 11 (Depth-first search. A* algorithm. Bidirectional RRT. Planning via artificial potentials)
  • Click here and here to download the PDF files for Lesson 12 (Best-first algorithm. Navigation functions. Introduction to aerial robotics)
  • Click here to download the PDF file for Lesson 13 (Relevant frames. Coordinate-free quadrotor dynamic model)
  • Click here to download the PDF file for Lesson 14 (RPY quadrotor dynamic model. Flat outputs for a quadrotor. Hierarchical control (Part I))
  • Click here to download the PDF file for Lesson 15 (Hierarchical control (Part II). Geometric Control (Part I))
  • Click here to download the PDF file for Lesson 16 (Geometric control (Part II). Estimation of external disturbances.)
  • Click here to download the PDF file for Lesson 17 (Passivity-based control with estimator of the external wrench. Multirotor aerodynamic effects (ground effect))
  • Click here to download the PDF file for Lesson 18 (Multirotor aerodynamic effects (ceiling effect, wall effect, pipe effect, tilt rotor, flapping). Aerial manipulation modeling and control)
  • Click here to download the PDF file for Lesson 19 (Kinematics and dynamics underwater vehicles. Hydrodynamic effects (Added mass and inertia, damping effects))
  • Click here to download the PDF file for Lesson 20 (Hydrodynamic effects (ocean current, gravity and buoyancy). Dynamic model in a matrix form. Dynamic control of 6-DOF AUVs)
  • Click here to download the PDF file for the lessons regarding legged robots and quadrupeds (Introduction. Floating base kinematics and dynamics. Stability. Whole-body control)

Exams

In order to be admitted to the orals, students have to solve a technical project. Instructions can be download here.