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At the end of the course, a case study is presented to show the application of planning and control methodologies to a realistic problem.
 
At the end of the course, a case study is presented to show the application of planning and control methodologies to a realistic problem.
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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 [http://home.deib.polimi.it/rocco/cir/index.html Control of industrial robots].
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=== Lecture timetable ===
 
=== Lecture timetable ===
 
The course is composed by a blending of lectures by the course teacher, and exercises by a teaching assistant.  
 
The course is composed by a blending of lectures by the course teacher, and exercises by a teaching assistant.  
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  {| class="wikitable"
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See the official time table on Polimi website.
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  |-
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  |Tuesday
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  |15.15-18.15
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  |BL.27.14
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−
  |-
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  |Thursday
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  |15.15-18.15
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  |L.02
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  |-
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−
  |}
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=== Teaching material ===
 
=== Teaching material ===
 
==== Lectures ====
 
==== Lectures ====
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<!--# Course introduction-->
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See WeBeep channel.
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# [[media:CONTAUT_MEC-Lect1.pdf|Course introduction]]
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<!--# Systems theory overview (continuous time systems)-->
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# [[media:CONTAUT_MEC-Lect2.pdf|Systems theory overview (continuous time systems)]]
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<!--# Frequency domain design-->
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# [[media:CONTAUT_MEC-Lect3.pdf|Frequency domain design]]
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<!--# Root locus-->
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# [[media:CONTAUT_MEC-Lect4.pdf|Root locus]]
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−
<!--# State space design-->
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# [[media:CONTAUT_MEC-Lect5.pdf|State space design]]
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<!--# Systems theory overview (discrete time systems)-->
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# [[media:CONTAUT_MEC-Lect6.pdf|Systems theory overview (discrete time systems)]]
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<!--# Digital control systems-->
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# [[media:CONTAUT_MEC-Lect7.pdf|Digital control systems]]
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<!--# Motion planning-->
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# [[media:CONTAUT_MEC-Lect8.pdf|Motion planning]]
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<!--# Motion control (standard control techniques)-->
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# [[media:CONTAUT_MEC-Lect9.pdf|Motion control (standard control techniques)]]
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<!--# Motion control (advanced control techniques)-->
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# [[media:CONTAUT_MEC-Lect10.pdf|Motion control (advanced control techniques)]]
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<!--# Industrial robotics-->
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# [[media:CONTAUT_MEC-Lect11.pdf|Industrial robotics]]
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<!--# Control system technologies for automation (Conditioning, filtering, A/D and D/A conversion)-->
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# [[media:CONTAUT_MEC-Lect12.pdf|Control system technologies for automation (Conditioning, filtering, A/D and D/A conversion)]]
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<!--# Control system technologies for automation (Control system design, communication systems, Programmable Logic Controllers)-->
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# [[media:CONTAUT_MEC-Lect13.pdf|Control system technologies for automation (Control system design, communication systems, Programmable Logic Controllers)]]
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==== Exercises ====
 
==== Exercises ====
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<!--# Time domain analysis of dynamical systems-->
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See WeBeep channel.
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# [[media:CONTAUT_MEC-Ex1.pdf|Time domain analysis of dynamical systems]]
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<!--# Time responses of first/second order systems-->
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# [[media:CONTAUT_MEC-Ex2.pdf|Time responses of first/second order systems]]
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<!--# Stability and performance analysis of closed-loop systems-->
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# [[media:CONTAUT_MEC-Ex3.pdf|Stability and performance analysis of closed-loop systems]]
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<!--# Frequency domain design-->
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# [[media:CONTAUT_MEC-Ex4.pdf|Frequency domain design]]
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<!--# Root locus and pole placement design-->
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# [[media:CONTAUT_MEC-Ex5.pdf|Root locus and pole placement design]]
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<!--# Discrete time systems and digital control design-->
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# [[media:CONTAUT_MEC-Ex6.pdf|Discrete time systems and digital control design]]
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<!--# Hardware technologies for automation-->
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# [[media:CONTAUT_MEC-Ex7.pdf|Hardware technologies for automation]]
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<!--# Final exam example-->
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# [[media:CONTAUT_MEC-Ex8.pdf|Final exam example]]
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==== Laboratories ====
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==== Labs ====
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<!--# Closed-loop systems (exercises, solutions)-->
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See WeBeep channel.
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# Closed-loop systems ([[media:CONTAUT_MEC-Labo1.pdf|exercises]], [[media:CONTAUT_MEC-Labo1.zip|solutions]])
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<!--# Pole placement (exercises, solutions)-->
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# Pole placement ([[media:CONTAUT_MEC-Labo2.pdf|exercises]], [[media:CONTAUT_MEC-Labo2.zip|solutions]])
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<!--# Discrete time systems and digital control (exercises, solutions)-->
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# Discrete time systems and digital control ([[media:CONTAUT_MEC-Labo3.pdf|exercises]], [[media:CONTAUT_MEC-Labo3.zip|solutions]])
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−
<!--# Motion control techniques (exercises, solutions)-->
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# Motion control techniques ([[media:CONTAUT_MEC-Labo4.pdf|exercises]], [[media:CONTAUT_MEC-Labo4.zip|solutions]])
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−
<!--# Advanced motion control techniques (exercises, solutions)-->
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# Advanced motion control techniques ([[media:CONTAUT_MEC-Labo5.pdf|exercises]], [[media:CONTAUT_MEC-Labo5.zip|solutions]])
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==== Project ====
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=== Past exams (Control of Mobile Robots) ===
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* [[media:CONTAUT_MEC-project2015.pdf|Control of a Mobile Inverted Pendulum (project 2015/2016)]]
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See WeBeep channel.
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* [[media:CONTAUT_MEC-project2016.pdf|Control of a laboratory thermal process (project 2016/2017)]]
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=== Past exams ===
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=== Past exams (Control of Industrial and Mobile Robots) ===
−
  {| class="wikitable"
+
See WeBeep channel.
−
  |-
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−
  |2015/2016
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−
  |[[media:CONTAUT_MEC-2016-AP01.pdf|February]], [[media:CONTAUT_MEC-2016-AP02.pdf|March]], [[media:CONTAUT_MEC-2016-AP03.pdf|July]], [[media:CONTAUT_MEC-2016-AP04.pdf|September (I)]], [[media:CONTAUT_MEC-2016-AP05.pdf|September (II)]]
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−
  |-
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−
  |2016/2017
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  |[[media:CONTAUT_MEC-2017-AP01.pdf|February]], [[media:CONTAUT_MEC-2017-AP02.pdf|March]], [[media:CONTAUT_MEC-2017-AP03.pdf|July (I)]], [[media:CONTAUT_MEC-2017-AP04.pdf|July (II)]], [[media:CONTAUT_MEC-2017-AP05.pdf|September]]
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−
  |-
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  |2017/2018
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  |[[media:CONTAUT_MEC-2018-AP01.pdf|January]], [[media:CONTAUT_MEC-2018-AP02.pdf|February]], [[media:CONTAUT_MEC-2018-AP03.pdf|June]], [[media:CONTAUT_MEC-2018-AP04.pdf|July]], September
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−
  |-
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  |}
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=== Office hours ===
 
=== Office hours ===
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=== Online resources ===
 
=== Online resources ===
 
The following are links to online sources which might be useful to complement the material above  
 
The following are links to online sources which might be useful to complement the material above  
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* [http://www.mathworks.it/matlabcentral/fileexchange/23870-asymptotic-bode-diagram Asymptotic Bode plots with Matlab]
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* [http://www.ros.org/ Robot Operating System (ROS)]
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* [http://www.dii.unisi.it/~control/act/home.php Automatic Control Telelab (Università degli Studi di Siena)]
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* [http://www.openmodelica.org/ OpenModelica]
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* [http://home.deib.polimi.it/rocco/caut/index.html Former course Controlli Automatici taught by Prof. Paolo Rocco]
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* [http://gazebosim.org/ Gazebo robot simulator]
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* [http://www.coppeliarobotics.com/ Virtual robot experimentation platform (v-rep)]
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* [http://cs.brown.edu/courses/cs1951r//projects/build/build.html PiDrone: An autonomous educational drone using Raspberry Pi and Python]

Latest revision as of 15:31, 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. See the official time table on Polimi website.

Teaching material

Lectures

See WeBeep channel.

Exercises

See WeBeep channel.

Labs

See WeBeep channel.

Past exams (Control of Mobile Robots)

See WeBeep channel.

Past exams (Control of Industrial and Mobile Robots)

See WeBeep channel.

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

Retrieved from "http://bascetta.deib.polimi.it/index.php?title=CMR-Aut&oldid=1356"