Master's Course in Automation Engineering and Robotics
Academic Year 2021/2022

Instructor: Prof. Fabio Ruggiero Questo indirizzo email è protetto dagli spambots. E' necessario abilitare JavaScript per vederlo.
Assistant: Dr. Eng. Mario Selvaggio Questo indirizzo email è protetto dagli spambots. E' necessario abilitare JavaScript per vederlo.
Assistant: Eng. Viviana Morlando Questo indirizzo email è protetto dagli spambots. E' necessario abilitare JavaScript per vederlo.

(last update: 06/03/22)

Class Schedule

  • 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.

Teaching Assistantship

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

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 (past year - to be updated soon), while the lecture book 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: Course presentation
  • Click here to download the PDF file: Introduction & Recap
  • Click here to download the PDF file: Wheeled robots
  • Click here to download the PDF file: Motion planning
  • Click here to download the PDF file: Aerial robotics
  • Click here to download the PDF file: Underwater robotics
  • Click here to download the PDF file: Legged robotics

Exams

Grading policy can be downloaded here.