Robot Motion Planning and Control

SC42090



ECTS:

3

Responsible Instructor:

Dr. J. Alonso-Mora (Javier)

Contact Hours / Week x/x/x/x:

0/0/4/0

Education Period:

3

Start Education:

3

Exam Period:

3

Course Language:

English

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


Education Method:

Lectures and exercises.

Books:

Planning Algorithms, S. LaValle http://planning.cs.uiuc.edu/

Assessment:

20% homework, 80% written exam

Remarks:

Old course code: SC4240TU

Elective:

Yes

Tags:

Algebra

Department:

3mE Department Delft Center for Systems and Control
© Copyright Delft Center for Systems and Control, Delft University of Technology, 2017.