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MOBILE ROBOTS

CODE 86739
ACADEMIC YEAR 2020/2021
CREDITS 5 credits during the 1st year of 10635 ROBOTICS ENGINEERING (LM-32) GENOVA
SCIENTIFIC DISCIPLINARY SECTOR ING-INF/04
LANGUAGE English
TEACHING LOCATION GENOVA (ROBOTICS ENGINEERING )
SEMESTER 2° Semester
TEACHING MATERIALS AULAWEB

AIMS AND CONTENT

LEARNING OUTCOMES

The class first develops the kinematic modeling and motorization of mobile robots, illustrated by the full study of the differential drive robot. Then localization based on the Extended Kalman Filter is addressed, is illustrated by a lab which uses real data and presents a tuning methodology. Observability issues are also addressed, with practical examples. Planning methods applicable to mobile robots are studied, in particular potential field methods and the Rapidly exploring Random Tree. Control then focuses on direct applications to mobile robots: static and dynamic feedback control and Lyapunov based control, illustrated on the case of the differential drive robot.

TEACHERS AND EXAM BOARD

Exam Board

GAETAN GARCIA (President)

FULVIO MASTROGIOVANNI

ANTONIO SGORBISSA (President Substitute)

EXAMS

Exam schedule

Date Time Location Type Notes
25/06/2021 09:00 GENOVA Scritto JEMARO students must attend this exam on: June 25th, 2021
07/07/2021 09:00 GENOVA Scritto JEMARO students must attend this exam on: June 25th, 2021
10/09/2021 09:00 GENOVA Scritto JEMARO students must attend this exam on: June 25th, 2021