Field and Service Robotics

Master's Course in Automation Engineering
Academic Year 2019/2020

Instructor: Prof. Fabio Ruggiero (Tel: 081 76-83843) (email: fabio(dot)ruggiero(at)unina(dot)it)

(last update: 10/06/20)

CLASS SCHEDULE

  • Tuesday, 11:30-13:30
  • Wednesday, 10:30-12:30

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

The course syllabus can be found here, 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 
  • Click here to download the PDF file for Lesson 1 (Recap about differential geometry - Part I)
  • Click here to download the PDF file for Lesson 2 (Recap about differential geometry - Part II)
  • Click here to download the PDF file for Lesson 3 (Mobile robots. Nonholonomic constraints)
  • Click here to download the PDF file for Lesson 4 (Kinematic models. Chained forms)
  • Click here to download the PDF file for Lesson 5 (Dynamic model. Planning path and timing law)
  • Click here to download the PDF file for Lesson 6 (Differential flatness. Path planning. Trajectory planning)
  • Click here to download the PDF file for Lesson 7 (Minimum-time trajectories. Trajectory tracking: approximate linearization)
  • Click here to download the PDF file for Lesson 8 (Trajectory tracking: nonlinear control; input/output feedback linearization. Regulation: Cartesian regulation; posture regulation)
  • Click here to download the PDF file for Lesson 9 (Odometric localization. Motion planning problem formalization. Configuration space and obstacles)
  • Click here to download the PDF file for Lesson 10 (C-obstacles. Planning via retraction. Graph search algorithms)
  • Click here to download the PDF file for Lesson 11 (A* algorithm. Probabilistic planning)
  • Click here to download the PDF file for Lesson 12 (Artificial potentials)
  • Click here to download the PDF file for Lesson 13 (Introduction to aerial robotics)
  • Click here to download the PDF file for Lesson 14 (Quadrotor dynamics)
  • Click here to download the PDF file for Lesson 15 (Quadrotor flat outputs. Hierarchical controller (part I))
  • Click here to download the PDF file for Lesson 16 (Hierarchical controller (part II). Geometric controller for a quadrotor)
  • Click here to download the PDF file for Lesson 17 (Estimator of external wrench. Passivity-based controller)
  • Click here to download the PDF file for Lesson 18 (Multirotor aerodynamic effects)
  • Click here and here to download the PDF files for Lesson 19 (Aerial manipulator modeling. Introduction to underwater robotics)
  • Click here to download the PDF file for Lesson 20 (Kinematics of underwater vehicles. Hydrodynamic effects (part I))
  • Click here to download the PDF file for Lesson 21 (Hydrodynamic effects (part II). Dynamic model in matrix form)
  • Click here to download the PDF file for Lesson 22 (Dynamic control of 6-DoF AUVs)
  • Click here and here to download the PDF files for Lesson 23 (Introduction to legged robotics. Dynamic of 3D bipedal robotic walking (part I)
  • Click here to download the PDF file for Lesson 24 (Dynamic of 3D bipedal robotic walking (part II). Stability analysis)

EXAMS

In order to be admitted to the orals, students have to solve a technical project (click here to download the instructions - ongoing updates).

 

 

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Contacts and Directions

PRISMA Lab - Via Claudio 21, 80125 Napoli, Italy

COORDINATOR: Prof. Bruno Siciliano [bruno (dot) siciliano (at) unina (dot) it]