MICRO-452 / 4 crédits

Enseignant: Mondada Francesco

Langue: Anglais


Summary

The course teaches the basics of autonomous mobile robots. Both hardware (energy, locomotion, sensors) and software (signal processing, control, localization, trajectory planning, high-level control) will be tackled. The students will apply the knowledge to program and control a real mobile robot.

Content

Keywords

mobile robots, sensing, perception, localisation, navigation, locomotion.

Learning Prerequisites

Required courses

Introduction to automatic control

Introduction to signal processing

Recommended courses

Microinformatique (SMT)

Important concepts to start the course

Embedded system programming

Basics of automatic control

Basics of signal processing

Learning Outcomes

By the end of the course, the student must be able to:

  • Choose the right methods to design and control a mobile robot for a particular task.
  • Integrate approriate methods for sensing, cognition and actuation
  • Justify design choices for a robotic system
  • Implement perception, localisation/navigation and control methods on a mobile robot

Transversal skills

  • Plan and carry out activities in a way which makes optimal use of available time and other resources.

Teaching methods

Ex cathedra, exercises, work on mobile robots

Expected student activities

  • weekly lectures
  • studying provided additional materials
  • lab exercises with practical components

Assessment methods

Written exam

Supervision

Assistants Yes
Forum Yes

Resources

Bibliography

Introduction to Autonomous Mobile Robots R. Siegwart, and I. Nourbakhsh, MIT Press, 2004

Autonomous Robots: From Biological Inspiration to Implementation and Control G.A. Bekey, MIT Press, 2005

Probabilistic Robotics S. Thrun, W. Burgard and D. Fox, MIT Press, 2005

Handbook of Robotics (chapter 35) B. Sicilian, and O. Khatib (Eds.), Springer, 2008

Elements of Robotics M. ben-Ari and F. Mondada, Spinger, 2017.

additional literature provided on Moodle

Ressources en bibliothèque

Notes/Handbook

Lecture slides are continously provided on Moodle during the course.

Introduction to Autonomous Mobile Robots R. Siegwart, and I. Nourbakhsh, MIT Press, 2004

Probabilistic Robotics S. Thrun, W. Burgard and D. Fox, MIT Press, 2005

Moodle Link

Dans les plans d'études

  • Semestre: Automne
  • Forme de l'examen: Ecrit (session d'hiver)
  • Matière examinée: Basics of mobile robotics
  • Cours: 2 Heure(s) hebdo x 14 semaines
  • Exercices: 2 Heure(s) hebdo x 14 semaines
  • Semestre: Automne
  • Forme de l'examen: Ecrit (session d'hiver)
  • Matière examinée: Basics of mobile robotics
  • Cours: 2 Heure(s) hebdo x 14 semaines
  • Exercices: 2 Heure(s) hebdo x 14 semaines
  • Semestre: Automne
  • Forme de l'examen: Ecrit (session d'hiver)
  • Matière examinée: Basics of mobile robotics
  • Cours: 2 Heure(s) hebdo x 14 semaines
  • Exercices: 2 Heure(s) hebdo x 14 semaines
  • Semestre: Automne
  • Forme de l'examen: Ecrit (session d'hiver)
  • Matière examinée: Basics of mobile robotics
  • Cours: 2 Heure(s) hebdo x 14 semaines
  • Exercices: 2 Heure(s) hebdo x 14 semaines
  • Forme de l'examen: Ecrit (session d'hiver)
  • Matière examinée: Basics of mobile robotics
  • Cours: 2 Heure(s) hebdo x 14 semaines
  • Exercices: 2 Heure(s) hebdo x 14 semaines

Semaine de référence

 LuMaMeJeVe
8-9     
9-10     
10-11     
11-12     
12-13     
13-14     
14-15     
15-16 CE2   
16-17    
17-18 CM1104
CM1105
PO01
   
18-19    
19-20     
20-21     
21-22     

Mardi, 15h - 17h: Cours CE2

Mardi, 17h - 19h: Exercice, TP CM1104
CM1105
PO01