Robot Motion Planning and Control
Responsible Instructor:Dr. J. Alonso-Mora (Javier)
Contact Hours / Week x/x/x/x:0/0/4/0
Expected prior knowledge:Basic knowledge of optimization, controls, calculus, algebra and probability.
Course Contents:Robot motion planning and control is an elective course in Q3 for master students interested in motion planning and control for autonomous mobile robots and multi-robot systems. Examples of mobile robots are autonomous cars, service robots, mobile manipulators and aerial vehicles.
Study Goals:The learning objectives of this course are:
Define notions of configuration and workspaces for robots
Identify different classes of robotic systems and associated mathematical models for their kinematics and dynamics
Describe and compare different algorithms for planning and control of multi-robot systems [graph search, sampling-based, constrained optimization, geometrical]
Design and implement motion controllers and motion planners for mobile robots;
Apply tools from constrained optimization to solve motion problems for mobile robots