Master's Course in Automation Engineering and Robotics
Academic Year 2022/2023
(last update: 28/02/23)
- 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.
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.
- 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
- 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.
- Click here to download the PDF file: Course presentation
Grading policy can be downloaded here.