Autonomous and Mobile Robotics: Introduction
Autonomous and Mobile Robotics
Gianluca Palli
gianluca.palli@unibo.it
DEI - LAR
University of Bologna
Viale del Risorgimento 2
40136 Bologna
Scheduling
Lectures: from September 16th to December 18th 2024
Monday, 12.00 - 14.00, Room 4.1
Wednesday, 12.00 - 15.00, LAB2
Course divided in 2 modules: Prof. Palli and Prof. Caporali
Gianluca Palli Autonomous and Mobile Robotics: Introduction 2/6
Scheduling
Lectures: from September 16th to December 18th 2024
Monday, 12.00 - 14.00, Room 4.1
Wednesday, 12.00 - 15.00, LAB2
Course divided in 2 modules: Prof. Palli and Prof. Caporali
Gianluca Palli Autonomous and Mobile Robotics: Introduction 2/6
Scheduling
Lectures: from September 16th to December 18th 2024
Monday, 12.00 - 14.00, Room 4.1
Wednesday, 12.00 - 15.00, LAB2
Course divided in 2 modules: Prof. Palli and Prof. Caporali
Class suspension: Oct. 4th; Nov. 1sth
Additionally: Oct. 7th - 9th, Dec. 4th - 6th;
Gianluca Palli Autonomous and Mobile Robotics: Introduction 2/6
Scheduling
Lectures: from September 16th to December 18th 2024
Monday, 12.00 - 14.00, Room 4.1
Wednesday, 12.00 - 15.00, LAB2
Course divided in 2 modules: Prof. Palli and Prof. Caporali
Class suspension: Oct. 4th; Nov. 1sth
Additionally: Oct. 7th - 9th, Dec. 4th - 6th;
Exam sessions:
First period: from 23 December 2024 to 14 February 2025;
Second period: from 16 June to 12 September 2025.
Gianluca Palli Autonomous and Mobile Robotics: Introduction 2/6
Scheduling
Lectures: from September 16th to December 18th 2024
Monday, 12.00 - 14.00, Room 4.1
Wednesday, 12.00 - 15.00, LAB2
Course divided in 2 modules: Prof. Palli and Prof. Caporali
Class suspension: Oct. 4th; Nov. 1sth
Additionally: Oct. 7th - 9th, Dec. 4th - 6th;
Exam sessions:
First period: from 23 December 2024 to 14 February 2025;
Second period: from 16 June to 12 September 2025.
Exam:
1 Written Test (50%): 10 questions with multiple answers + 2 open
questions + a problem
2 (Individual or Group) Project Presentation (50%)
Gianluca Palli Autonomous and Mobile Robotics: Introduction 2/6
Scheduling
Lectures: from September 16th to December 18th 2024
Monday, 12.00 - 14.00, Room 4.1
Wednesday, 12.00 - 15.00, LAB2
Course divided in 2 modules: Prof. Palli and Prof. Caporali
Class suspension: Oct. 4th; Nov. 1sth
Additionally: Oct. 7th - 9th, Dec. 4th - 6th;
Exam sessions:
First period: from 23 December 2024 to 14 February 2025;
Second period: from 16 June to 12 September 2025.
Exam:
1 Written Test (50%): 10 questions with multiple answers + 2 open
questions + a problem
2 (Individual or Group) Project Presentation (50%)
Dates: dates to be agreed in December/January/February
Written test: December 21st 2023 and January 26th 2024
Project presentation: January 12th and Febraury 9th 2024
Gianluca Palli Autonomous and Mobile Robotics: Introduction 2/6
Readings/Bibliography
Lecture Notes on Virtuale
Roland Siegwart, Illah R. Nourbakhsh, and
Davide Scaramuzza. 2011. Introduction to
Autonomous Mobile Robots (2nd. ed.). The
MIT Press.
Richard S. Sutton and Andrew G. Barto.
Reinforcement Learning: An Introduction.
Second edition, in progress. 2015. A Bradford
Book. The MIT Press.
Sebastian Thrun, Wolfram Burgard, and
Dieter Fox. 2005. Probabilistic Robotics
(Intelligent Robotics and Autonomous
Agents). The MIT Press.
Nguyen Van Toan, Phan Bui Khoi. 2023. A
Robotic Framework for the Mobile
Manipulator: Theory and Application. CRC
Press.
Gianluca Palli Autonomous and Mobile Robotics: Introduction 3/6
Others
Teaching tools:
Slides
ROS, Python
Turtlebot 3, Tiago, Summit-XL
Gianluca Palli Autonomous and Mobile Robotics: Introduction 4/6
Others
Teaching tools:
Slides
ROS, Python
Turtlebot 3, Tiago, Summit-XL
Office hours (for students):
before or after each lesson
on appointment
on Thursday, from 14.00 to 16.00 (in my office, please send my an
email for confirmation)
Gianluca Palli Autonomous and Mobile Robotics: Introduction 4/6
Topics
Robot Operating System
Introduction to ROS 2
ROS 2 Programming
ROS 2 Navigation
Mobile Robotics
Introduction to mobile robotics
Kinematic models and control aspects for mobile robots
Task and trajectory planning for mobile robots
Perception and sensing for mobile robots
Navigation and localization
Gianluca Palli Autonomous and Mobile Robotics: Introduction 5/6
Topics
Robot Operating System
Introduction to ROS 2
ROS 2 Programming
ROS 2 Navigation
Mobile Robotics
Introduction to mobile robotics
Kinematic models and control aspects for mobile robots
Task and trajectory planning for mobile robots
Perception and sensing for mobile robots
Navigation and localization
Mobile Manipulation
Redundant Robotic Systems
Robotic Manipulation
Mobile Manipulators
Task Priority
Representation of Tasks
Visual Servoing
Gianluca Palli Autonomous and Mobile Robotics: Introduction 5/6
Topics
Robot Operating System
Introduction to ROS 2
ROS 2 Programming
ROS 2 Navigation
Mobile Robotics
Introduction to mobile robotics
Kinematic models and control aspects for mobile robots
Task and trajectory planning for mobile robots
Perception and sensing for mobile robots
Navigation and localization
Mobile Manipulation
Redundant Robotic Systems
Robotic Manipulation
Mobile Manipulators
Task Priority
Representation of Tasks
Visual Servoing
Simulation and control of robotic and mobile systems in the ROS
environment
Gianluca Palli Autonomous and Mobile Robotics: Introduction 5/6
Topics
Robot Operating System
Introduction to ROS 2
ROS 2 Programming
ROS 2 Navigation
Mobile Robotics
Introduction to mobile robotics
Kinematic models and control aspects for mobile robots
Task and trajectory planning for mobile robots
Perception and sensing for mobile robots
Navigation and localization
Mobile Manipulation
Redundant Robotic Systems
Robotic Manipulation
Mobile Manipulators
Task Priority
Representation of Tasks
Visual Servoing
Simulation and control of robotic and mobile systems in the ROS
environment
Gianluca Palli Autonomous and Mobile Robotics: Introduction 5/6
Thanks!
Questions?
Gianluca Palli Autonomous and Mobile Robotics: Introduction 6/6
