Elective in Robotics

 Module of
 Modeling and control of multi-rotor UAVs
 Google group:
https://groups.google.com/d/forum/eir_multirotor
  Sapienza e-learning: https://elearning.uniroma1.it/course/view.php?id=7949
 

  Marilena Vendittelli
  How to reach me:
  Dipartimento di Ingegneria informatica, automatica e gestionale Antonio Ruberti
  UniversitÓ di Roma "La Sapienza"
  Via Ariosto 25, 00185 Roma, Italy
  office A211
  tel +39 06 77274 049

  marilena.vendittelli [at] uniroma1 [dot] it



Academic year 2019/20


Material for this module
How to complete the credits for this module
Registration to exams

Aims: This module presents basic methods and recent results in modeling and control of Unmanned Aerial Vehicles (UAVs) with main emphasis on quadrotors.

Detailed contents: Introduction and illustration of the Hummingbird quadrotor available at the Robotics Laboratory. Mathematical model of a quadrotor UAV. Attitude, height and position control. Trajectory generation and tracking. Sensor-based control. Seminars do be defined.

Prerequisites: This module has no strict prerequisites. However, familiarity with basic concepts of automatic control will help.

ECTS credits for this module: 3 credits (out of 12 credits for the whole course).


Lectures for this module


Period: first part of the first semester

Begin:  Monday, 23 September 2019 End:  Tuesday, 29 October 2019

Final schedule/rooms: Monday 14:00-16:00, A7; Tuesday 16:00-19:00, A4


Material for this module


NOTE: updated course material is available on the Sapienza e-learnig platform

Introduction and quadrotor modeling


Control based on dynamic feedback linearization

A nonlinear controller on SE(3)

State estimation


Visual hovering

Students Projects
State estimation and position  control: the EuRoC experience
Visibility vs RRT-based motion planning


How to complete the credits for this module


Please check the information in the main page of the Elective in Robotics course.

Office hours for students

Send me an e-mail to arrange an appointment.


Registration to exams


Please check the information in the main page of the Elective in Robotics course. In order to get the final grade (for 12 credits), you need to register only once you have acquired the credits of all modules.

Last update: October 1, 2019

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