Prof. Giuseppe Oriolo
Dipartimento di Ingegneria Informatica, Automatica e Gestionale
Sapienza UniversitÓ di Roma
|schedule||27 Sept - 23
Dec 2021, Mon 11:00-13:00, Wed 11:00-13:00, Thu 09:00-11:00, room B2 DIAG
+ Zoom https://uniroma1.zoom.us/j/85812670259?pwd=RUpIVWV4eDkwOTlET3BJb2JyVkhIQT09
12:00-14:00, room A209 (DIAG, Via Ariosto 25) or video
call on appointment
|oriolo [at] diag [dot] uniroma1 [dot] it|
|AMR Google Group||AMR_GG (membership is restricted to students of the course)|
Due to the ongoing COVID-19 sanitary emergency, AMR lectures for 2021-22 will be given in class but will also be available via streaming at the Zoom link indicated above. Access Zoom using your Sapienza student account, making sure that your first + last name appear in the Zoom account profile.
that are enrolled in the 2nd year of their master
and are attending AMR for the first time should
ask to join the AMR
Google Group as soon as possible. Use
your Sapienza student account (@studenti.uniroma1.it) and enter your first
+ last name in "Display Name" and your master
program (MARR/MCER) in "Reason for joining".
Since June 2021, AMR exams are held again in presence. It is however still necessary to submit the solution via Exam.net, see the instructions here. Remember to reserve a seat in the exam room via PRODIGIT.
Up to April 2021, AMR exams have been held in a remote fashion (Zoom+Exam.net), following this procedure.
This 6-credit course can be taken by students of the
Master Programs in "Artificial Intelligence and Robotics" and in "Control Engineering", both offered by the FacoltÓ di Ingegneria
dell'Informazione, Informatica e Statistica (I3S) of Sapienza University of
The course presents the basic planning/control methods for achieving mobility and autonomy in mobile robots.
syllabus for 2021/2022
- 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]
Miscellaneous Material- 2020/2021: Final projects proposal and assignments
- Lectures from previous
* An introduction to the NAO humanoid (slides)
* 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)
to read a research paper (written for RPI's students but good for
Students that are enrolled in the 2nd year of their master and are attending AMR for the first time can pass the exam via midterm test (50%) + final project (50%); or midterm test (50%) + final test (50%). Otherwise, one must take take a conventional exam, which may be written and/or oral.