| CODICE | 106956 |
|---|---|
| ANNO ACCADEMICO | 2022/2023 |
| CFU |
|
| SETTORE SCIENTIFICO DISCIPLINARE | ING-INF/04 |
| SEDE |
|
| PERIODO | 2° Semestre |
| MATERIALE DIDATTICO | AULAWEB |
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.
GAETAN GARCIA (Presidente)
MARCO BAGLIETTO
ANTONIO SGORBISSA (Presidente Supplente)
ENRICO SIMETTI (Presidente Supplente)
L'orario di tutti gli insegnamenti è consultabile su EasyAcademy.
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 also contains questions that are meant to evaluate the knowledge gained from the labs.
Final exam 100%, but as stated above, the exam contains questions to evaluate the understanding of the labs.
| Data | Ora | Luogo | Tipologia | Note |
|---|---|---|---|---|
| 02/02/2023 | 15:00 | GENOVA | Scritto | This date is reserved to students who intend to graduate in the March session. Exam will be held online, probably on Zoom platform. More info will be given few days before the date by the professor of the course. |
| 23/06/2023 | 09:00 | GENOVA | Scritto | This date is reserved to students who intend to graduate in the March session. Exam will be held online, probably on Zoom platform. More info will be given few days before the date by the professor of the course. |
| 13/07/2023 | 09:00 | GENOVA | Scritto | This date is reserved to students who intend to graduate in the March session. Exam will be held online, probably on Zoom platform. More info will be given few days before the date by the professor of the course. |
| 08/09/2023 | 09:00 | GENOVA | Scritto | This date is reserved to students who intend to graduate in the March session. Exam will be held online, probably on Zoom platform. More info will be given few days before the date by the professor of the course. |