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## OPTIMISATION TECHNIQUES

CODE 86733 2020/2021 5 credits during the 1st year of 10635 ROBOTICS ENGINEERING (LM-32) GENOVA MAT/09 English GENOVA (ROBOTICS ENGINEERING ) 1° Semester AULAWEB

## OVERVIEW

The Course introduces to optimization models and methods for the solution of decision problems, with particular attention to models and problems arising in Robotics Engineering. It is structured according to the basic topics of problem modelling, its tractability, and its solution by means of algorithms that can be implemented on computers.

## AIMS AND CONTENT

### LEARNING OUTCOMES

The lecture presents different theoretical and computational aspects of a wide range of optimization methods for solving a variety of problems in engineering and robotics.

### AIMS AND LEARNING OUTCOMES

The Course aims at providing the students with the skills required to deal with engineering problems, with particular emphasis on Robotics Engineering, by developing models and methods that work efficiently in the presence of limited resources.

The students will be taught to: interpret and shape a decision-making process in terms of an optimization problem, identifying the decision-making variables, the cost function to minimize (or the figure of merit to maximize), and the constraints; framing the problem within the range of problems considered "canonical" (linear / nonlinear, discrete / continuous, deterministic / stochastic, static / dynamic, etc.); realizing the "matching" between the solving algorithm (to choose from existing or to be designed) and an appropriate processing software support.

### PREREQUISITES

Linear algebra. Vector and matrix calculus. Basic mathematical analysis and geometry.

### TEACHING METHODS

Lectures and exercises. Continuous assessmnet. Attendance recommended.

### SYLLABUS/CONTENT

Introduction. Optimization and Operations Research for Robotics. Optimization models and methods.

Linear programming model and algorithms

Integer linear programming model and  algorithms

Nonlinear programming model and algorithms

Graph optimization models and algorithms

N-stage optimization: dynamic programming model and algorithms

Putting things together: models, methods, and algorithms for the optimisation of robotic systems

Software tools for optimization

Case studies from Robotics

Lecture notes provided by the teacher (study material will be available in the official study portal).

## TEACHERS AND EXAM BOARD

### Exam Board

MARCELLO SANGUINETI (President)

MAURO GAGGERO

DANILO MACCIO'

MASSIMO PAOLUCCI (President Substitute)

## LESSONS

### TEACHING METHODS

Lectures and exercises. Continuous assessmnet. Attendance recommended.

### LESSONS START

Sempember 21, 2020.

### Class schedule

All class schedules are posted on the EasyAcademy portal.

## EXAMS

### EXAM DESCRIPTION

Written, if it will be possible to make exams "in presence". Otherwise, the teacher will decide whether the exam via Teams will be written or oral.

There will be questions on the main concepts explained during the lectures and it will be required to develop models and propose solution algorithms for problems arising in various applicative scenarios of engineering and robotics.

### ASSESSMENT METHODS

Final exam and maybe continuous assessment (if there will be a continuous assessement, it will cover 30% of the overall evaluation, whereas 70% will be covered by the final exam).

### Exam schedule

Date Time Location Type Notes
07/01/2021 09:00 GENOVA Scritto
04/02/2021 09:00 GENOVA Scritto
08/06/2021 09:00 GENOVA Scritto
29/06/2021 09:00 GENOVA Scritto
09/09/2021 09:00 GENOVA Scritto

### FURTHER INFORMATION

The lectures are organized in theory and case-studies from real-world applications. Other  supervised exercises and practice to use of software tools for optimization are available during additional hours with an instructor.