CODE 106956 ACADEMIC YEAR 2021/2022 CREDITS 5 cfu anno 1 ROBOTICS ENGINEERING 10635 (LM-32) - GENOVA SCIENTIFIC DISCIPLINARY SECTOR ING-INF/04 TEACHING LOCATION GENOVA 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 GAETAN GARCIA Exam Board GAETAN GARCIA (President) MARCO BAGLIETTO ANTONIO SGORBISSA (President Substitute) ENRICO SIMETTI (President Substitute) LESSONS LESSONS START https://corsi.unige.it/10635/p/studenti-orario Class schedule The timetable for this course is available here: Portale EasyAcademy EXAMS Exam schedule Data appello Orario Luogo Degree type Note 03/02/2022 14:00 GENOVA Orale 24/06/2022 09:00 GENOVA Scritto 06/07/2022 09:00 GENOVA Scritto 09/09/2022 09:00 GENOVA Scritto
