( english version )
Robotica ( 5 CFU )
Prof. Stefano Caselli
     Tel. 0521 905724 - Fax. 0521 905723           E-mail. stefano.caselli@unipr.it           Home page. http://www.ce.unipr.it/people/caselli

Finalità
The aim of this course is to introduce practical techniques for development of autonomous robot systems. The course promotes acquisition of design skills suitable for industrial working environments, and consists of theory lectures, seminar presentations on selected topics, laboratory demonstrations, and mandatory individual projects.

Programma
- Introduction and classification of robotic systems
- Elementary notions of kinematics and dynamics of robot manipulators
- Programming languages of industrial robots
- Robot teleoperation and advanced programming techniques
- Exteroceptive sensing and object recognition
- Control architectures: deliberative, reactive, and hybrid architectures
- Concurrency and real-time issues in control architectures
- Mobile robot design
- Mobile robot navigation
- Environment representation and uncertainty
- Configuration space and motion planning
- Task planning
- Inductive and reinforcement-based task learning
- Cooperating robots

Attività d'esercitazione
Most course topics involve specific lab classes and demonstrations at the Dipartimento di Ingegneria dell'Informazione. Students must be proficient in software development, mainly in C/Unix. Evaluation of individual projects will contribute to the overall exam mark.

Modalità d'esame
Project evaluation and written test.

Propedeuticità
Adequate knowledge of architecture and programming of computer systems is recommended. Digital design, dynamic systems, and control techniques notions are occasionally referenced.

Testi consigliati
R. Murphy: "Introduction to AI Robotics", MIT press, 2000.
Instructor's notes.

 
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