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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. |
| − | {| class="wikitable"
| + | See the official time table on Polimi website. |
| − | |-
| + | |
| − | |Monday
| + | |
| − | |13.15-15.15
| + | |
| − | |[https://aunicalogin.polimi.it/aunicalogin/getservizio.xml?id_servizio=343&idaula=5011&lang=EN 16C.0.1]
| + | |
| − | |-
| + | |
| − | |Wednesday
| + | |
| − | |15.15-17.15
| + | |
| − | |[https://aunicalogin.polimi.it/aunicalogin/getservizio.xml?id_servizio=343&idaula=5012&lang=EN 16C.0.2]
| + | |
| − | |-
| + | |
| − | |}
| + | |
| | | | |
| | === 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 ==== |
| − | <!--[[media:CMR_AUT-Labo0.pdf|Software setup for ROS labs]]-->
| + | See WeBeep channel. |
| − | # Introduction to ROS
| + | |
| − | <!--# [[media:CMR_AUT-Labo1.pdf|Introduction to ROS]]-->
| + | |
| − | # Introduction to ROS with Matlab/Simulink
| + | |
| − | <!--# [[media:CMR_AUT-Labo2.zip|Introduction to ROS with Matlab/Simulink]]-->
| + | |
| − | # A mobile robot simulator
| + | |
| − | <!--# [[media:CMR_AUT-Labo3.zip|A mobile robot simulator]]-->
| + | |
| − | # Planning with Matlab
| + | |
| − | <!--# [[media:CMR_AUT-Labo4.zip|Planning with Matlab]]-->
| + | |
| − | # A trajectory tracking controller
| + | |
| − | <!--# [[media:CMR_AUT-Labo5.zip|A trajectory tracking controller]]-->
| + | |
| − | # A trajectory tracking and obstacle avoidance controller
| + | |
| − | <!--# [[media:CMR_AUT-Labo6.zip|A trajectory tracking and obstacle avoidance controller]]-->
| + | |
| | | | |
| | === Past exams (Control of Mobile Robots) === | | === Past exams (Control of Mobile Robots) === |
| − | {| class="wikitable"
| + | See WeBeep channel. |
| − | |-
| + | |
| − | |2018/2019
| + | |
| − | | [[media:CMR_AUT-2018-AP01.pdf|January]] ([[media:CMR_AUT-2018-AP01-soluzione.pdf|solution]]), [[media:CMR_AUT-2018-AP02.pdf|February]], [[media:CMR_AUT-2018-AP03.pdf|July 1st]], [[media:CMR_AUT-2018-AP04.pdf|July 2nd]], [[media:CMR_AUT-2018-AP05.pdf|September]]
| + | |
| − | |-
| + | |
| − | |2019/2020
| + | |
| − | | [[media:CMR_AUT-2019-AP01.pdf|January]] ([[media:CMR_AUT-2019-AP01-soluzione.pdf|solution]]), [[media:CMR_AUT-2019-AP02.pdf|February]], [https://remoteexam.polimi.it/mod/quiz/view.php?id=1658 June], [https://remoteexam.polimi.it/mod/quiz/view.php?id=1659 July], [https://remoteexam.polimi.it/mod/quiz/view.php?id=1660 September]
| + | |
| − | |-
| + | |
| − | |2020/2021
| + | |
| − | | [https://remoteexam.polimi.it/mod/quiz/view.php?id=2668 January], [https://remoteexam.polimi.it/mod/quiz/view.php?id=3080 February], [[media:CMR_AUT-2020-AP03.pdf|June]], [[media:CMR_AUT-2020-AP04.pdf|July]], [[media:CMR_AUT-2020-AP05.pdf|September]]
| + | |
| − | |-
| + | |
| − | |2021/2022
| + | |
| − | | [[media:CMR_AUT-2021-AP01.pdf|January]] ([[media:CMR_AUT-2021-AP01-soluzione.pdf|solution]]), February, July, September
| + | |
| − | |-
| + | |
| − | |}
| + | |
| | | | |
| | === Past exams (Control of Industrial and Mobile Robots) === | | === Past exams (Control of Industrial and Mobile Robots) === |
| − | {| class="wikitable"
| + | See WeBeep channel. |
| − | |-
| + | |
| − | |2018/2019
| + | |
| − | | [[media:CIMR_AUT-2018-AP01.pdf|January]] ([[media:CIMR_AUT-2018-AP01-soluzione.pdf|solution]]), [[media:CIMR_AUT-2018-AP02.pdf|February]], [[media:CIMR_AUT-2018-AP03.pdf|July 1st]], [[media:CIMR_AUT-2018-AP04.pdf|July 2nd]], [[media:CIMR_AUT-2018-AP05.pdf|September]]
| + | |
| − | |-
| + | |
| − | |2019/2020
| + | |
| − | | [[media:CIMR_AUT-2019-AP01.pdf|January]] ([[media:CIMR_AUT-2019-AP01-soluzione.pdf|solution]]), [[media:CIMR_AUT-2019-AP02.pdf|February]], [https://remoteexam.polimi.it/mod/quiz/view.php?id=1661 June], [https://remoteexam.polimi.it/mod/quiz/view.php?id=1662 July], [https://remoteexam.polimi.it/mod/quiz/view.php?id=1663 September]
| + | |
| − | |-
| + | |
| − | |2020/2021
| + | |
| − | | [https://remoteexam.polimi.it/mod/quiz/view.php?id=2671 January], [https://remoteexam.polimi.it/mod/quiz/view.php?id=3082 February], [[media:CIMR_AUT-2020-AP03.pdf|June]], [[media:CIMR_AUT-2020-AP04.pdf|July]], [[media:CIMR_AUT-2020-AP05.pdf|September]]
| + | |
| − | |-
| + | |
| − | |2021/2022
| + | |
| − | | [[media:CIMR_AUT-2021-AP01.pdf|January]] ([[media:CIMR_AUT-2021-AP01-soluzione.pdf|solution]]), February, June, July, September
| + | |
| − | |-
| + | |
| − | |}
| + | |
| | | | |
| | === Office hours === | | === Office hours === |
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.
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.
Please, always send me an email before coming to an office hour, or to arrange a meeting outside office hours.
The following are links to online sources which might be useful to complement the material above