Autonomous and Mobile Robotics 
(Robotica Mobile e Autonoma)

Prof. Giuseppe Oriolo


Information

schedule20 Feb - 26 May 2017, Wed 8:00-12:00, Fri 8:00-10:00, room B2 (6 ECTS credits)
office hoursThu 14:00-16:00, room A211, DIAG, Via Ariosto 25
e-mailoriolo [at] diag [dot] uniroma1 [dot] it
AMR websitehttp://www.diag.uniroma1.it/~oriolo/amr
AMR Google GroupAMR_GG (membership is restricted; instructions on how to apply are only given in class) 

Audience

Students of the Master in Artificial Intelligence and Robotics (MARR) and the Master in Control Engineering (MCER), both offered by the FacoltÓ di Ingegneria dell'Informazione, Informatica e Statistica of Sapienza University of Rome.


Objective

The course presents the basic methods for achieving mobility and autonomy in mobile robots.


Syllabus for 2016/2017 (preliminary)


Textbooks

- Siciliano, Sciavicco, Villani, Oriolo, Robotics: Modelling, Planning and Control, 3rd Edition, Springer, 2009 (also available in Italian by McGraw-Hill)
[chapters 11 and 12 cover lectures on Configuration space, Wheeled Mobile Robots 1-5, Localization 1, Motion Planning 1-3]

- Choset, Lynch, Hutchinson, Kantor, Burgard, Kavraki, Thrun, Principles of Robot Motion: Theory, Algorithms and Implementations, MIT Press, 2005
[a useful reference for the whole course; chapter 8 covers lectures on Localization 2-3]

- Siciliano, Khatib, Eds., Handbook of Robotics, Springer, 2008
[
a useful reference for the whole course]

All these books are available in the DIAG library.

Miscellaneous Material

- 2016/2017: Final projects proposal and assignments
- 2016/2017: Midterm Class test with solution and results
- 2015/2016: Final projects proposal and assignments
- 2015/2016: Midterm Class test with solution and results
- 2014/2015: Final projects proposal and assignments
- 2014/2015: Final Class test with solution and results
- 2013/2014: Final projects proposal and assignments
- 2013/2014: Final Class test with solution and results
- 2012/2013: Final projects proposal and assignments
- 2012/2013: Final Class test with solution and results
2011/2012: Final projects proposal and assignments
- 2011/2012: Final Class test with solution and results
- 2010/2011: Final projects proposal and assignments
- 2010/2011: Class test 1 with solution and results, Class test 2 with solution and results
- 2009/2010: Final projects
- 2009/2010: Class test 1 with solution, Class test 2 with solution

- Lectures from previous years:

    * An introduction to the NAO humanoid (slides)
    * Case study: Motion planning in practice: An introduction to Kite and V-REP
(slides)
    * Case study: Vision-based localization and navigation for humanoid robots (slides)

    * Case study: Whole-body motion planning for humanoid robots
(slides)
    * Case study: Real-time evasive motions for humanoid robots
(slides)
    * Case study: Collision in human-robot collaboration: Avoidance, detection, and reaction (slides)
    * Case study: Visual servoing for Unmanned Aerial Vehicles (slides)

- A control brush-up:
    * a review of stability theory
    * basics of stabilization via feedback
(in Italian)

- How to read a research paper (written for RPI's students but good for everybody)


Software

- MATLAB/Simulink code (folders sometimes include a ReadMe file with specific instructions)

    * Cartesian/posture regulation of a unicycle (Regulation.zip)
    * odometric localization of a unicycle (OdometricLocalization.zip)
    * unicycle posture regulation using odometric localization (OdometricLocalizationWithinPostureRegulation.zip)

    * a PRM-based planner for a 2R manipulator (12_7.zip)
    * an RRT-based planner for a unicycle
(12_8.zip)
    * a 2D point planner based on a numerical navigation function
(12_13.zip)
   Names 12_xx are due to the fact that these are the solutions ("s") of problems 12.xx of the book "Robotics: Modelling, Planning and Control".

- An application for computing C-obstacles for a 2R manipulator
(2R_C_Space). Includes a topologically correct representation of the C-space (a torus) and an RRT-planner. The application runs on Mac, Linux and PC; see the instructions in the README file. An email address for sending feedback and bug reports to the developer (Pouya Mohammadi) is contained in the "About" tab.


Grading       

Midterm test (50%) + final project (50%); or
midterm test (50%) + test (50%). As an alternative, which I do not recommend, one may take a conventional exam, which may be written and/or oral. Sign-up via Infostud is required in either case.


Master Theses at the Robotics Laboratory

Master Theses on the topics studied in this course are available at the Robotics Laboratory. More information can be found here.
News

Questions/comments: oriolo [at] diag [dot] uniroma1 [dot] it