Master's Course in Automation Engineering and Robotics
Academic Year 2023/2024

Instructor: Prof. Fabio Ruggiero Questo indirizzo email è protetto dagli spambots. E' necessario abilitare JavaScript per vederlo.
Assistant: Eng. Riccardo Aliotta Questo indirizzo email è protetto dagli spambots. E' necessario abilitare JavaScript per vederlo.
Assistant: Eng. Francesco Cufino Questo indirizzo email è protetto dagli spambots. E' necessario abilitare JavaScript per vederlo.

(last update: 28/02/24)

Class Schedule

• Monday, 10:30-12:30 (Room NA-II-A8 in Agnano complex)
• Tuesday, 10:30-12:30 (Room NA-II-A8 in Agnano complex). 

Lessons will be physically delivered following the official timetable.
However, I issued the following channel on TEAMS for didactic purposes and interaction. To further improve interaction,  I have set up a TELEGRAM group.

Teaching Assistantship

Send an email to the Instructor to set an appointment. Assistantship can also be provided via the MT platform.
Friday, 08.00-09.30 at the Instructor’s office

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 lecture book can be found on the Instructor's website.

References

Main textbook

• B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics - Modelling, Planning and Control, Springer, London, 2009, ISBN 978-1-84628-641-4

Further readings

• 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 
• K.M. Lynch, F.C. Park, Modern Robotics. Mechanics, Planning, and Control, Cambridge University Press, ISBN 9781107156302

See the Syllabus above for a complete list of references.

Lecture Notes

• Click here to download the PDF file: Course presentation

Exams

Grading policy can be downloaded here.