Difference between revisions of "CMR-Aut"

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	=== Teaching material ===		=== Teaching material ===
	==== Lectures ====		==== Lectures ====
−	<!--# Course organization-->	+	See WeBeep channel.
−	# [[media:CMR_AUT-Lect1.pdf|Course organization]]	+
−	<!--# Course introduction-->	+
−	# [[media:CMR_AUT-Lect2.pdf|Course introduction]]	+
−	<!--# Kinematics of mobile robots-->	+
−	# [[media:CMR_AUT-Lect3.pdf|Kinematics of mobile robots]]	+
−	<!--# Dynamics of mobile robots-->	+
−	# [[media:CMR_AUT-Lect4.pdf|Dynamics of mobile robots]]	+
−	<!--# Introduction to simulation tools-->	+
−	# [[media:CMR_AUT-Lect5.pdf|Introduction to simulation tools]]	+
−	<!--# Path and trajectory planning-->	+
−	# [[media:CMR_AUT-Lect6.pdf|Path and trajectory planning]]	+
−	<!--# Trajectory tracking-->	+
−	# [[media:CMR_AUT-Lect7.pdf|Trajectory tracking]]	+
−	# Case studies	+
−	<!--# [[media:CMR_AUT-Lect8.pdf|Case studies]]-->	+
	==== Exercises ====		==== Exercises ====
−	<!--# Kinematics of mobile robots-->	+	See WeBeep channel.
−	# [[media:CMR_AUT-Ex1.pdf|Kinematics of mobile robots]]	+
−	<!--# Kinematics and dynamics of mobile robots-->	+
−	# [[media:CMR_AUT-Ex2.pdf|Kinematics and dynamics of mobile robots]]	+
−	# Exam example	+
−	<!--# [[media:CMR_AUT-Ex3.pdf|Exam example]]-->	+
−		+
	==== Labs ====		==== Labs ====

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Revision as of 15:08, 12 September 2022

The aim of this course is to introduce the student to the fundamental aspects of modelling, planning and control for mobile and autonomous robots, and mobile manipulators.

The course covers the main aspects of mobile robotics and mobile manipulation, making reference to indoor, outdoor and off-road environments. Classical and modern planning and control techniques are introduced.

At the end of the course, a case study is presented to show the application of planning and control methodologies to a realistic problem. The course can be taken as a standalone 5 credits course or as a module of the integrated course Control of industrial and mobile robots, together with Control of industrial robots.

Lecture timetable

The course is composed by a blending of lectures by the course teacher, and exercises by a teaching assistant.

Monday	13.15-15.15	16C.0.1
Wednesday	15.15-17.15	16C.0.2

Teaching material

Lectures

See WeBeep channel.

Exercises

See WeBeep channel.

Labs

1. Introduction to ROS
2. Introduction to ROS with Matlab/Simulink
3. A mobile robot simulator
4. Planning with Matlab
5. A trajectory tracking controller
6. A trajectory tracking and obstacle avoidance controller

Past exams (Control of Mobile Robots)

2018/2019	January (solution), February, July 1st, July 2nd, September
2019/2020	January (solution), February, June, July, September
2020/2021	January, February, June, July, September
2021/2022	January (solution), February, June, July, September

Past exams (Control of Industrial and Mobile Robots)

2018/2019	January (solution), February, July 1st, July 2nd, September
2019/2020	January (solution), February, June, July, September
2020/2021	January, February, June, July, September
2021/2022	January (solution), February, June, July, September

Office hours

See "Professor's activities" page on www.polimi.it.

Please, always send me an email before coming to an office hour, or to arrange a meeting outside office hours.

Online resources

The following are links to online sources which might be useful to complement the material above

• Robot Operating System (ROS)
• OpenModelica
• Gazebo robot simulator
• Virtual robot experimentation platform (v-rep)
• PiDrone: An autonomous educational drone using Raspberry Pi and Python