CODE 106956 ACADEMIC YEAR 2026/2027 CREDITS 5 cfu anno 1 ROBOTICS ENGINEERING 11963 (LM-32) - GENOVA SCIENTIFIC DISCIPLINARY SECTOR IINF-04/A LANGUAGE English TEACHING LOCATION GENOVA SEMESTER 2° Semester MODULES Questo insegnamento è un modulo di: MOBILE ROBOTICS AND ROBOT DYNAMICS TEACHING MATERIALS AULAWEB AIMS AND CONTENT LEARNING OUTCOMES The module aims to provide students with a general understanding of the kinematic modeling and motorization of mobile robots, illustrated through the detailed study of the differential drive robot, as well as of localization techniques based on the Extended Kalman Filter, including laboratory activities using real data and the presentation of tuning methodologies. The course further aims to introduce observability issues through practical examples, planning methods applicable to mobile robots such as potential field methods and Rapidly-exploring Random Trees, and control techniques with direct application to mobile robots, including static and dynamic feedback control and Lyapunov-based control, illustrated on the case of the differential drive robot. AIMS AND LEARNING OUTCOMES The students will be able to tackle real problems in mobile robotics. In kinematic modeling and in localization, their experience will involve practical knowledge and, in localization, hands on experience with real data. PREREQUISITES The prerequisites of the class are essentially mathematical. They are described in a PDF document available to students on Aulaweb. TEACHING METHODS The class is delivered in part online. Approximately half of the class is taught in presence over a two week period. This part is mainly devoted to exercises and labs. A list of exercises is provided to the students, who can work on the exercises that they find the more challenging, under the guidance of the teacher. Students who hold valid certificates relating to Specific Learning Difficulties (SLD), disabilities or other educational needs are invited to contact the lecturer and the school’s disability liaison officer at the start of the course to agree on any teaching arrangements which, whilst respecting the course objectives, take into account individual learning styles. The contact details for the university’s disability liaison officer are available at the following link: https://unige.it/commissioni/comitatoperlinclusionedeglistudenticondisabilita. SYLLABUS/CONTENT Modeling of wheeled Robots: Constraint equations, Classification of robots using degrees of mobility and steerability, Posture kinematic model, Configuration kinematic model, Motorisation of wheels. Localization: Relative localization using odometry, Absolute localization, Localization sensors, Localization using extended Kalman filtering. Control: Controllability and stabilization, static and dynamic feedback linearization, nonlinear control based on Lyapunov functions. Practical Work: The students will study various control laws in simulation. They will also implement a Kalman filter-based localization algorithm using data recorded with a real robot. RECOMMENDED READING/BIBLIOGRAPHY “Theory of robot control”, Carlos Canudas de Wit, Bruno Siciliano, Georges Bastin, Springer Science & Business Media, 2012 - 392 pages. PDF documents provided by the teacher. TEACHERS AND EXAM BOARD GAETAN GARCIA Ricevimento: Teacher is not in Genoa. Please contact him per email. Exam Board GIORGIO CANNATA (President) GAETAN GARCIA ENRICO SIMETTI (President Substitute) LESSONS LESSONS START https://easyacademy.unige.it/portalestudenti/index.php?view=easycourse&_lang=it&include=corso Class schedule The timetable for this course is available here: Portale EasyAcademy EXAMS EXAM DESCRIPTION The exam is based on exercises that remain fairly close to class examples and homework examples. The exam typically is a mix of questions that must be solved by calculation, and questions that must not. The exam may also contain questions that are meant to evaluate the knowledge gained from the labs. ASSESSMENT METHODS Final exam 100%, but as stated above, the exam may contain questions to evaluate the understanding of the labs. FURTHER INFORMATION Teacher’s email address: gaetan.garcia@ec-nantes.fr Students with valid certifications for Specific Learning Disorders (SLD) may request accommodations for exams at least 7 days prior to the exam date by filling out the “accommodation request form” (available via online services at https://modulionline.unige.it/richiesta-adattamenti# no-back), which will be automatically forwarded by the system to the instructor in charge of the course and to the faculty liaison for students with disabilities and SLDs in their School/Department. The student will receive a copy of their request.
