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.
GIORGIO CANNATA (Presidente)
GAETAN GARCIA
ENRICO SIMETTI (Presidente Supplente)
https://corsi.unige.it/10635/p/studenti-orario
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.
