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COOPERATIVE ROBOTICS

CODE 98457
ACADEMIC YEAR 2022/2023
CREDITS
  • 4 cfu during the 2nd year of 10635 ROBOTICS ENGINEERING (LM-32) - GENOVA
  • 6 cfu during the 2nd year of 11160 COMPUTER ENGINEERING (LM-32) - GENOVA
  • SCIENTIFIC DISCIPLINARY SECTOR ING-INF/04
    LANGUAGE English
    TEACHING LOCATION
  • GENOVA
  • SEMESTER 1° Semester
    TEACHING MATERIALS AULAWEB

    OVERVIEW

    Different robotic agents can be employed for achieving a set of objectives via cooperative activities. From example, multiple sensoride vehicles can be employed for distributed area exploration, monitoring or surveying, while cooperating multi-mobile manipulators can be employed for manipulating, transporting and assembling objects. This course will present an efficient task-priority based control framework and its extension for the use in a cooperative context.

    AIMS AND CONTENT

    LEARNING OUTCOMES

    The course presents modern task-priority based control approaches to complex robotic systems. A general framework capable of controlling robotic structures ranging from fixed-base arms to dual arm mobile manipulators is discussed. The same framework is extended to cooperative anipulation by multiple agents in a distributed way.

    AIMS AND LEARNING OUTCOMES

    At the end of the course the student will be able to design a modern task-priority kinematic controller. In particular, the student will be able to:

    • Define control objectives for a robotic system
    • Choose the appropriate priority levels for the control tasks
    • Create different new control actions, as building blocks for the robotic system
    • Know the extension to a cooperative manipulation case

    PREREQUISITES

    For the 4 CFU version, students are required to know the fundamentals of kinematics.

    TEACHING METHODS

    The teaching modalities of this course are as follows.  
    Approximately 20 hours are used to present the syllabus contents through regular lessons. The remaining hours are used for laboratory activities. In particular, a series of exercises of increasing difficulty are given and the class hours are exploited to solve them with the teacher's help. The exercises are carried out within a MATLAB simulation environment made available by the teacher.

    A continous assessment will be made on the exercises developed during the lessons.

    Lessons attendance is mandatory.

    SYLLABUS/CONTENT

    For the 4 CFU version, the course will cover the following topics:

    • Overview of the single agent control architecture
      • Basic definitions of relevant frames, actuation and sensory system
      • Hierarchical kinematic and dynamic control layers
    • Task-priority control
      • Control objectives
      • Control tasks
      • Control Actions
      • Task-priority inverse kinematics
    • Cooperative control
      • Extension of the task-priority for cooperative manipulation
      • Cooperative control for area coverage

    The 6 CFU version of the course provides, at the beginning, the following additional content

    • Fundamentals of kinematics
      • Frames, rotation and transformation matrices
      • Definition and properties of the angular velocity vector
      • Time derivatives of vectors
    • Basic inverse kinematics

    RECOMMENDED READING/BIBLIOGRAPHY

    The notes of the course will be available on Aulaweb and cover all the contents of the course.

    For further readings, students can read the following books and papers:

    • Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G. (2009) Robotics: Modelling, Planning and Control. ISSN: 1439-2232
    • Antonelli, G. (2018) Underwater robots. ISSN: 1610-7438
    • Simetti, E., & Casalino, G. (2017). Manipulation and transportation with cooperative underwater vehicle manipulator systems. IEEE Journal of Oceanic Engineering, 42(4), 782-799.
    • Simetti, E., & Casalino, G. (2016). A novel practical technique to integrate inequality control objectives and task transitions in priority based control. Journal of Intelligent & Robotic Systems, 84(1-4), 877-902.

    TEACHERS AND EXAM BOARD

    Exam Board

    ENRICO SIMETTI (President)

    GIOVANNI INDIVERI

    GIUSEPPE CASALINO (President Substitute)

    LESSONS

    Class schedule

    All class schedules are posted on the EasyAcademy portal.

    EXAMS

    EXAM DESCRIPTION

    Development of a project assigned during the course. The project is carried out in the MATLAB simulation environment used during the laboratory lessons.
    The project requires the development of a task priority controller for a robotic system employed in a specific case study. The exam will be based on the discussion of the project and of the content covered during the lessons.

     

    ASSESSMENT METHODS

    At the end of the course, the student must be able to design a task priority controller for a given robotic system. This skill is evaluated through the discussion of the developed project (70%) and the continous assessment during the lessions (30%).

    The following items will be part of the evaluation:

    • the correctness of the employed Jacobian relationships
    • the student's ability in discussing the developed project
    • which and how many tasks were successfully implemented by the robotic system

    Exam schedule

    Date Time Location Type Notes