|SCIENTIFIC DISCIPLINARY SECTOR||ING-INF/05|
The experimental aspect is fundamental in robotics, in which various theoretical skills (automatic controls, computer vision, software architectures, real-time programming, ...) are merged in concrete systems and mechatronic platforms. The course aims to provide students with a methodology to accomplish this fusion and bridge the gap between theory and practical implementation, through lectures, exercises, and projects. In particular, the course will provide elements to perform robotic simulations involving software architecture design, computer vision, planning and mapping.
The course's aim is to put into action the theoretical knowledge acquired in other courses, providing some robotic setups for specific implementations. The course will also include methodological information on experiments design and validation of results.
Active participation in the proposed training activities (lectures and laboratory activities), individual study and the realization of projects, students will be able to:
- use software frameworks for robotics;
- design a modular and functional software architecture for a mobile robot;
- integrate ontologies to encode knoweldge in a robotic software architecture;
- implement a robotic simulation, using software tools such as Gazebo;
- use AI Planning frameworks for robotics;
- create new robotic models and simulation control plugins, thus having complete control over the simulation environment;
- know, modify and use algorithms for navigating mobile robots in unstructured environments;
- implement simple controllers for robot manipulators in a simulation environment.
Since the main objective of the course is to practice theoretical aspects learned in other disciplines, the following knowledge is necessary to face the course optimally:
- software architectures for robotics
- ROS (Robot Operating System)
- programming (C ++, python)
Teaching methods consist of frontal lessons and class exercises.
During frontal lessons, examples related to the implementation of the different aspects will be shown.
Class exercises will be performed individually or in groups
The course program consists of the following topics:
- ROS and Software Architectures
- Software Designing Process
- Knowledge Representation
- Robot Modelling with Gazebo and ROS: URDF and XACRO
- OpenCV and ROS
- Path planning and SLAM for mobile robots: theory and implementation
- Manipulators and the MoveIt library
A Docker images, with a full ROS/ROS2 installation and some libraries will be given at the beginning of the course.
All slides shown during the lessons and other teaching materials will be available on the Aulaweb platform. Generally speaking, notes taken during the lessons and teaching materials uploaded on Aulaweb will be sufficient for the course.
Office hours: By appointment, at the Department of Informatics, Bioengineering, Robotics, and Systems Engineering (DIBRIS), via all'Opera Pia 13, 16145, or online using Microsoft Teams. For any questions, please refer to: email@example.com
CARMINE RECCHIUTO (President)
LUCA BUONCOMPAGNI (President Substitute)
All class schedules are posted on the EasyAcademy portal.
During the course, students will have to implement two assignments, based on the contents of the course.
The final exam will consist of a written exam and practical exercises.
The final evaluation will be composed of the evaluation of the assignments (30%) and the evaluation of the final written / practical exam (70%).
The final exam and the projects aim to ascertain the following aspects of the students' preparation:
- Acquired knowledge about the implementation of robotic simulations.
- Ability to apply correct methodologies for the practical solution of theoretical problems.
- Ability to adopt software architectures suitable for solving robotic problems.