Salta al contenuto principale
CODICE 106956
ANNO ACCADEMICO 2023/2024
CFU
SETTORE SCIENTIFICO DISCIPLINARE ING-INF/04
LINGUA Inglese
SEDE
  • GENOVA
PERIODO 2° Semestre
MATERIALE DIDATTICO AULAWEB

OBIETTIVI E CONTENUTI

OBIETTIVI FORMATIVI

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.

DOCENTI E COMMISSIONI

Commissione d'esame

GAETAN GARCIA (Presidente)

MARCO BAGLIETTO

ANTONIO SGORBISSA (Presidente Supplente)

ENRICO SIMETTI (Presidente Supplente)

LEZIONI

Orari delle lezioni

L'orario di questo insegnamento è consultabile all'indirizzo: Portale EasyAcademy

ESAMI

MODALITA' D'ESAME

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.

MODALITA' DI ACCERTAMENTO

Final exam 100%, but as stated above, the exam contains questions to evaluate the understanding of the labs.

Calendario appelli

Dati Ora Luogo Tipologia Note
01/02/2024 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.
21/06/2024 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.
18/07/2024 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.
06/09/2024 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.