MOBILE ROBOTS FOR CRITICAL MISSIONS

International Teaching MOBILE ROBOTS FOR CRITICAL MISSIONS

0622700103
DIPARTIMENTO DI INGEGNERIA DELL'INFORMAZIONE ED ELETTRICA E MATEMATICA APPLICATA
EQF7
COMPUTER ENGINEERING
2021/2022



YEAR OF COURSE 2
YEAR OF DIDACTIC SYSTEM 2017
SECONDO SEMESTRE
CFUHOURSACTIVITY
324LESSONS
324LAB
Objectives
THE GOAL OF THE COURSE IS TO PROVIDE THE STUDENT WITH THE ARCHITECTURAL, METHODOLOGICAL, AND DESIGN ELEMENTS FOR THE CONSTRUCTION OF INTELLIGENT ROBOTS CAPABLE OF MOVING AUTONOMOUSLY IN INDOOR ENVIRONMENTS. IN PARTICULAR, THE COURSE FOCUSES ON ASPECTS RELATED TO MAP REPRESENTATION, MAP BUILDING, ROBOT LOCALIZATION, NAVIGATION AND OBSTACLE AVOIDANCE ALGORITHMS.


KNOWLEDGE AND UNDERSTANDING
THE COURSE PRESENTS THE METHODOLOGIES TO ALLOW THE AUTONOMOUS MOVEMENT OF THE ROBOT IN INDOOR ENVIRONMENTS, WHERE THE MAP AND THE ELEMENTS PRESENT WITHIN THE SCENE (FOR INSTANCE THE OBSTACLES) AND THE RELATED POSITION ARE NOT KNOWN A PRIORI.

APPLYING KNOWLEDGE AND UNDERSTANDING
ABILITY TO DESIGN AND IMPLEMENT SOLUTIONS TO INTELLIGENT ROBOT PROBLEMS, BY CHOOSING AND APPLYING THE APPROPRIATE METHODS PRESENTED IN THE COURSE, AND THE SOFTWARE ENVIRONMENTS SPECIFICALLY DEVISED FOR COGNITIVE ROBOTICS.
Prerequisites
IN ORDER TO ACHIEVE THE GOALS OF THE COURSE, THE KNOWLEDGE OF THE C AND PYTHON PROGRAMMING LANGUAGE IS REQUIRED.
Contents
INTELLIGENT ROBOT SYSTEMS: INTRODUCTION (LECTURE / PRACTICE / LABORATORY HOURS 4/0/0)


ROS - ROBOT OPERATING SYSTEM: INTRODUCTION TO ROS FRAMEWORK; GAZEBO: 3D ROBOTIC SIMULATOR; TF TRANSFORMATION SYSTEM, ROBOT MODELS BASED ON UNIFIED ROBOT DESCRIPTION FORMAT (URDF); RVIZ: 3D VISUALIZATION TOOL FOR ROS. (LECTURE / PRACTICE / LABORATORY HOURS 4/2/2)

MAP REPRESENTATION, LOCALIZATION: MARKOV LOCALIZATION, KALMAN FILTER, EXTENDED KALMAN FILTER, PARTICLE FILTERING. SLAM, EKF SLAM. SIMULATION IN GAZEBO AND WITH TURTLEBOT ROBOT IN REAL ENVIRONMENT (LECTURE / PRACTICE / LABORATORY HOURS 12/6/2)

ALGORITHMS FOR NAVIGATION (A*, DIJKSTRA) AND OBSTACLE AVOIDANCE (BUG1, BUG2). . SIMULATION IN GAZEBO AND WITH TURTLEBOT ROBOT IN REAL ENVIRONMENT (LECTURE / PRACTICE / LABORATORY HOURS 8/6/2)

TOTAL LECTURE / PRACTICE / LABORATORY HOURS 28/14/6
Teaching Methods
THE COURSE CONTAINS THEORETICAL LECTURES, IN-CLASS EXERCITATIONS AND PRACTICAL LABORATORY EXERCITATIONS. DURING THE IN-CLASS EXERCITATIONS THE STUDENTS ARE DIVIDED IN TEAMS AND ARE ASSIGNED SOME PROJECT-WORKS TO BE DEVELOPED ALONG THE DURATION OF THE COURSE. THE PROJECTS INCLUDE ALL THE CONTENTS OF THE COURSE AND IS ESSENTIAL BOTH FOR THE ACQUISITION OF THE RELATIVE ABILITIES AND COMPETENCES, AND FOR DEVELOPING AND REINFORCING THE ABILITY TO WORK IN A TEAM. IN THE LABORATORY EXERCITATIONS THE STUDENTS IMPLEMENT THE ASSIGNED PROJECTS USING ROS.

IN ORDER TO PARTICIPATE TO THE FINAL ASSESSMENT AND TO GAIN THE CREDITS
CORRESPONDING TO THE COURSE, THE STUDENT MUST HAVE ATTENDED AT LEAST 70% OF THE HOURS OF ASSISTED TEACHING ACTIVITIES.
Verification of learning
THE EXAM AIMS AT EVALUATING, AS A WHOLE: THE KNOWLEDGE AND UNDERSTANDING OF THE CONCEPTS PRESENTED IN THE COURSE, THE ABILITY TO APPLY THAT KNOWLEDGE TO SOLVE PROGRAMMING PROBLEMS REQUIRING THE USE OF TECHNIQUES FOR AUTONOMOUS ROBOT NAVIGATION; INDEPENDENCE OF JUDGMENT, COMMUNICATION SKILLS AND THE ABILITY TO LEARN.

THE EXAM INCLUDES TWO STEPS: THE FIRST ONE CONSISTS IN AN ORAL EXAMINATIONS AND IN THE DISCUSSION OF MID TERM PROJECTS REALIZED DURING THE COURSES. THE SECOND STEP CONSISTS IN THE REALIZATION OF A FINAL TERM PROJECT: THE STUDENTS, PARTITIONED INTO TEAMS, ARE REQUIRED TO REALIZE A SYSTEM, FINALIZED TO A COMPETITION AMONG THE TEAMS, DESIGNING AND METHODOLOGICAL CONTRIBUTIONS OF THE STUDENTS, TOGETHER WITH THE SCORE ACHIEVED DURING THE COMPETITION, ARE CONSIDERED FOR THE EVALUATION.
THE AIM IS TO ASSESS THE ACQUIRED KNOWLEDGE AND ABILITY TO UNDERSTANDING, THE ABILITY TO LEARN, THE ABILITY TO APPLY KNOWLEDGE, THE INDEPENDENCE OF JUDGMENT, THE ABILITY TO WORK IN A TEAM.

IN THE FINAL EVALUATION, EXPRESSED IN THIRTIETHS, THE EVALUATION OF THE INTERVIEW AND OF THE MID TERM PROJECTS WORK WILL ACCOUNT FOR 40% WHILE THE FINAL TERM PROJECT WILL ACCOUNT FOR 60%. THE CUM LAUDE MAY BE GIVEN TO STUDENTS WHO DEMONSTRATE THAT THEY CAN APPLY THE KNOWLEDGE AUTONOMOUSLY EVEN IN CONTEXTS OTHER THAN THOSE PROPOSED IN THE COURSE.
Texts
INTRODUCTION TO AUTONOMOUS MOBILE ROBOTS. ROLAND SIEGWART, ILLAH R. NOURBAKHSH, A BRADFORD BOOK, THE MIT PRESS, 2004

THE TEACHING MATERIAL IS AVAILABLE ON THE UNIVERSITY E-LEARNING PLATFORM (HTTP://ELEARNING.UNISA.IT) ACCESSIBLE TO STUDENTS USING THEIR OWN UNIVERSITY CREDENTIALS.
More Information
THE COURSE IS HELD IN ENGLISH
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