|SCIENTIFIC DISCIPLINARY SECTOR||MAT/09|
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.
The lectures are organized in i) methodology and ii) case-studies from real-world applications. Additional exercises and use of software tools are presented during exercise hours.
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.
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.
Linear algebra. Vector and matrix calculus. Basic mathematical analysis and geometry.
Lectures and exercises. Continuous assessmnet. Attendance recommended.
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).
Office hours: By appointment
MARCELLO SANGUINETI (President)
MASSIMO PAOLUCCI (President Substitute)
All class schedules are posted on the EasyAcademy portal.
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.
Comprehension of the concepts explained during the Course.
- interpret and shape a decision-making process in terms of an optimization problem, with particular attention to decision problems in Robotics;
- frame the problem in the range of problems considered "canonical" (linear / nonlinear, discrete / continuous, deterministic / stochastic, static / dynamic, etc.);
- choose and/or develop a solution algorithm that implements a suitable optimization technique, with particular attention to problems arising in Robotics.