Difference between revisions of "Robotics"

From Chrome
Jump to: navigation, search
(Detailed course schedule)
 
(209 intermediate revisions by the same user not shown)
Line 1: Line 1:
 
__FORCETOC__
 
__FORCETOC__
  
03/04/2020: Under Update! Tomorrow we start the new course edition!
+
The following are last-minute news you should be aware of ;-)
 +
* 10/09/2021: results of 30/08/2021 call for Laureandi are [[Media:Grades_20210831_tmp.pdf|here]]. They include all HW1 grades!
 +
* 20/08/2021: results of 26/07/2021 call are [[Media:Grades_20210726.pdf|here]]. They include all HW1 grades! Green grades will be rounded up with ceil.
 +
* 25/07/2021: results of 29/06/2021 call are [[Media:Grades_20210629.pdf|here]]. They include all HW1 grades! Green rows will be rounded up with ceil.
 +
* 20/07/2021: results of 29/06/2021 call are [[Media:Grades_20210629_tmp2.pdf|here]] ... they do not include all HW1 grades!
 +
* 09/07/2021: results of 29/06/2021 call for graduating students are [[Media:Grades_20210629_tmp.pdf|here]]
 +
* 08/06/2021: all lecture videos are now published and slides pdf updated.
 +
* 26/05/2021: The link to the form to request an instance of remote examination for June and July is [https://forms.office.com/r/U4hkkaiq8h here!]
 +
* 26/05/2021: Revised final schedule of the course, last lecture will be on 31/05/2021
 +
* The second robotics project is out!
 +
* 21/04/2021: You can join the course [https://teams.microsoft.com/l/meetup-join/19%3ameeting_ZmE0NTExYWQtNjFhMi00ZjE3LTg2ZTktOTQ5MDRjZjU1ZTk5%40thread.v2/0?context=%7b%22Tid%22%3a%220a17712b-6df3-425d-808e-309df28a5eeb%22%2c%22Oid%22%3a%22335b7274-e5d4-455b-aff1-ddd0f4ef5598%22%7d MS Team here]
 +
* 14/04/2021: The first homework project is out! Check it [https://chrome.deib.polimi.it/index.php?title=Robotics#Course_Projects here]
 +
* 09/04/2021: Lab sessions will be back to presence from 20/04/2021 on (check the detailed schedule)
 +
* 09/04/2021: Added a new lecture on 21/04/2021 to recover the one missed two weeks ago
 +
* 30/03/2021: Today's lab webex room is Simone Mentasti one
 +
* 25/03/2021: Added link to the last lab video and some references about C++
 +
* 24/03/2021: This morning lecture is canceled (afternoon lab will happen as usual)
 +
* 06/03/2021: Updated video from the lab and the lectures
 +
* 05/03/2021: Added link to USB stick linux distribution [https://chrome.deib.polimi.it/index.php?title=Robotics#Useful_stuff_from_the_web here]!!!
 +
* 05/03/2021: From today until new communication lectures and labs will be online in the professor webex room
 +
* 03/03/2021: Today's lab webex room is Simone Mentasti one (for presence no change, is the normal class)
 +
* 24/02/2021: Lecture videos and slides published
 +
* 24/02/2021: Lectures start today!
 +
 
 +
<!--
 +
* 05/10/2020: Final [[Media:Grades_20200908_hws_final.pdf|grades]] from the 08/09/2020 call
 +
* 18/07/2020: Final [[Media:Grades_20200617_hws_final.pdf|grades]] from the 17/06/2020 call
 +
* 10/07/2020: Second [[Media:Grades_20200617_hws.pdf|homework and urgent grades]] from the 17/06/2020 call
 +
* 12/06/2020: Exam rehearsal [https://polimi-it.zoom.us/j/89319381617?pwd=bE9BYi91bHRBZ2JJTTR4Qm1YaFhJQT09 zoom room] and [https://forms.office.com/Pages/ResponsePage.aspx?id=K3EXCvNtXUKAjjCd8ope6ztteKg6OERCsstxb4n43e9UMjQyRkVKQktJQzBGQ1pHQURGQTFCRU0wRy4u form to be filled]
 +
* 03/06/2020: First homework results are [[Media:Grades_2020_HW1.pdf|here]] ;-)
 +
* 24/05/2020: Updates on the material about navigation: new slides include also planning but it is not part of this year program
 +
* 24/05/2020: Link to a blog post and a paper about EKF-SLAM
 +
* 24/05/2020: Updates on the schedule, with links to videos and one additional class
 +
* 02/05/2020: Updated full course schedule
 +
* 18/04/2020: Updated videos about ROS and published first project material!!!
 +
* 04/04/2020: Updated slides about Robot Odometry with fixes
 +
* 04/04/2020: Fixed schedule, added skid-steering paper, added fixed version of kinematics slides [2019/2020]
 +
* 22/03/2020: Added link to Simone Mentasti online slides repository
 +
* 10/03/2020: Change in the detailed schedule to anticipate the ROS labs and add 2 days which I originally forgot :-)
 +
* 06/03/2020: Added FAQ section, the video of last lecture, and a "youtube" section in the teaching material
 +
* 05/03/2020: Need to log in Polimi Office 365 web-mail to access the video 
 +
* 05/03/2020: Added link to the video of the lecture
 +
* 04/03/2020: The course starts today!
 +
* 03/03/2020: Under Update! Tomorrow we start the new course edition!
 +
-->
  
 
<!--
 
<!--
Line 82: Line 126:
 
The course is composed by a blending of lectures and exercises by the course teacher and a teaching assistant.
 
The course is composed by a blending of lectures and exercises by the course teacher and a teaching assistant.
  
* [https://www.deib.polimi.it/ita/personale/dettagli/267262 Matteo Matteucci]: the course teacher
+
* [https://www.deib.polimi.it/ita/personale/dettagli/267262 Matteo Matteucci]: the course teacher and this is his [HTTP://politecnicomilano.webex.com/join/matteo.matteucci webex room]
* [http://www.deib.polimi.it/eng/people/details/1304888 Simone Mentasti]: the teaching assistant
+
* [https://www.deib.polimi.it/eng/people/details/1304888 Simone Mentasti]: the teaching assistant and this is his [HTTP://politecnicomilano.webex.com/join/simone.mentasti webex room]
 +
* [https://www.deib.polimi.it/ita/personale/dettagli/974764 Paolo Cudrano]: the teaching assistant and this is his [HTTP://politecnicomilano.webex.com/join/paolo.cudrano webex room]
  
 
===Course Program===
 
===Course Program===
  
Lectures will provide theoretical background and real world examples. Lectures will be complemented with practical exercises in simulation for all the proposed topics and the students will be guided in developing the algorithms to control an autonomous robot.
+
Lectures will provide theoretical background and real world examples. Lectures will be complemented with practical software exercises in simulation and on real data for all the proposed topics and the students will be guided in developing the algorithms to control an autonomous robot.
  
 
Among other topics, we will discuss:
 
Among other topics, we will discuss:
Line 93: Line 138:
 
* Sensors and perception,
 
* Sensors and perception,
 
* Robot localization and map building,
 
* Robot localization and map building,
* Simultaneour Localization and Mapping (SLAM),
+
* Simultaneous Localization and Mapping (SLAM),
 
* Path planning and collision avoidance.
 
* Path planning and collision avoidance.
  
Line 101: Line 146:
  
 
Note: Lecture timetable interpretation
 
Note: Lecture timetable interpretation
* On Wednesday, in 5.1.1, starts at 12:15, ends at 14:15
+
* On Tuesdays (Team 1 - Odd Numero Persona), in 3.0.2 (EX S.0.5), starts at 17:30, ends at 19:15
* On Thursday, in 6.0.1, starts at 14:15, ends at 16:15
+
* On Wednesdays, in teacher webex room, starts at 10:30, ends at 13:15
 +
* On Wednesdays (Team 2 - Even Numero Persona), in 25.2.2 (EX D.3.2), starts at 14:30, ends at 16:15
 +
 
  
 
{| border="1" align="center" style="text-align:center;"
 
{| border="1" align="center" style="text-align:center;"
 
|-
 
|-
|Date || Day || Time || Room || Teacher || Type || Topic
+
|Date || Day || Time || Room || Teacher || Type || Topic  
 
|-
 
|-
|04/03/2020 || Wednesday || 12:15 - 14:15 || Virtual room || Lecture || Matteo Matteucci || Course Introduction
+
|24/02/2021 || Wednesday || 10:15 - 13:15 || Online on webex || Matteo Matteucci || Lecture || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=e953e0e29b744f0fa604c2c401cb40b6 Course logistics] + [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=2068c40227aa4091a5483bb3c57af5e1 Introduction to Robotics]
 
|-
 
|-
|05/03/2020 || Thursday  || 14:15 - 16:15 || Virtual room || Lecture || Matteo Matteucci || Robot Sensors and Actuators
+
|24/02/2021 || Wednesday || 14:15 - 16:15 || --- || --- || --- || --- No Lecture ---
 
|-
 
|-
|11/03/2020 || Wednesday || 12:15 - 14:15 || 5.1.1 || Lecture || Matteo Matteucci || Robot Sensors and Actuators
+
|02/03/2021 || Tuesday || 17:15 - 19:15 || 3.0.2 (EX S.0.5) || Paolo Cudrano || ROS Team 1 || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=d260c9fb0aeb4963bfb3aa7be89a1632 Introduction to middleware in Robotics]
 
|-
 
|-
|12/03/2020 || Thursday || 14:15 - 16:15 || 6.0.1 || Lecture || Matteo Matteucci || Robot Sensors and Actuators
+
|03/03/2021 || Wednesday || 10:15 - 13:15 || Online on webex || Matteo Matteucci || Lecture || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=e74e003ef5664d849f848ff3831dd7e6 Sensors and Actuators]
 
|-
 
|-
|25/03/2020 || Wednesday || 12:15 - 14:15 || 5.0.1 || Lecture || Matteo Matteucci || Robot Kinematics
+
|03/03/2021 || Wednesday || 14:15 - 16:15 || 25.2.2 (EX D.3.2) || Simone Mentasti || ROS Team 2 || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=3196f800c2be49b88f858ca6fd96b117 Introduction to middleware in Robotics]
 
|-
 
|-
|26/03/2020 || Thursday || 14:15 - 16:15 || 5.03 || Lecture || Matteo Matteucci || Robot Kinematics
+
|09/03/2021 || Tuesday || 17:15 - 19:15 || Online on webex || Paolo Cudrano || ROS Team 1 || ROS Basics (see next for recoding)
 
|-
 
|-
|01/04/2019 || Wenesday || 12:15 - 14:15 || 5.1.1 || Lecture || Matteo Matteucci || Robot Kinematics
+
|10/03/2021 || Wednesday || 10:15 - 13:15 || Online on webex || Matteo Matteucci || Lecture || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=30df56c53c6a4ac199dafff310f1f222 Robot Sensors] and [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=4dbee67823f8417f8e3784248c4712db Intro to SLAM]
 
|-
 
|-
|02/04/2019 || Wednesday || 12:15 - 14:15 || 6.0.1 || Lecture || Matteo Matteucci || Robot Localization
+
|10/03/2021 || Wednesday || 14:15 - 16:15 || Online on webex || Paolo Cudrano || ROS Team 2 || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=86c7caa885764429aff9777ed5cfa322 ROS Basics]
 
|-
 
|-
 
+
|16/03/2021 || Tuesday || 17:15 - 19:15 || Online on webex || Paolo Cudrano || ROS Team 1 || Publishers and Subscribers (see next for recording)
|02/03/2019 || Wednesday || 12:15 - 14:15 || 5.03 || ROS || Simone Mentasti || Middleware for robotics and ROS Installation Party
+
 
|-
 
|-
|25/03/2019 || Monday || 16:15 - 18:15 || 5.0.1 || ROS || Simone Mentasti || Ros workspace, Publisher/subscriber, launch file
+
|17/03/2021 || Wednesday || 10:15 - 13:15 || Online on webex || Matteo Matteucci || Lecture || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=d85a41c9c6404ccab84b725f902c99eb Robot Kinematics (Differential Drive)]
 
|-
 
|-
|27/03/2019 || Wednesday || 12:15 - 14:15 || 5.03 || Lecture || Matteo Matteucci || Robot Localization
+
|17/03/2021 || Wednesday || 14:15 - 16:15 || Online on webex || Paolo Cudrano || ROS Team 2 || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=41a263d5283e4c5d8a16840a1277512b Publishers and Subscribers]
 
|-
 
|-
|01/04/2019 || Monday || 16:15 - 18:15 || 5.0.1 || ROS || Simone Mentasti || Messages, services, parameters
+
|23/03/2021 || Tuesday || 17:15 - 19:15 || Online on webex|| Paolo Cudrano || ROS Team 1 || Services and Parameters (see next for recording)
 
|-
 
|-
|03/04/2019 || Wednesday || 12:15 - 14:15 || 5.03 || ROS || Simone Mentasti || Bags, tb, actionlib, rqt_tools.
+
|<s>24/03/2021</s> || <s>Wednesday</s> || <s>10:15 - 13:15</s> || <s>Online on webex</s> || <s>Matteo Matteucci</s> || <s>Lecture</s> || <s>Robot Kinematics </s>
 
|-
 
|-
|08/04/2019 || Monday || 16:15 - 18:15 || 5.0.1 || Lecture || Matteo Matteucci|| Robot Localization
+
|24/03/2021 || Wednesday || 14:15 - 16:15 || Online on webex || Paolo Cudrano || ROS Team 2 || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=3e67b96db3bb4001a3a8af5b5b12f435 Services and Parameters]
 
|-
 
|-
|10/04/2019 || Wednesday || 12:15 - 14:15 || 5.03 || Lecture || Matteo Matteucci|| Robot Mapping
+
|30/03/2021 || Tuesday || 17:15 - 19:15 || Online on webex|| Simone Mentasti || ROS Team 1 || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=b9eb5355185b49c4955ad3515f0e2b7f TF, RVIZ (Mentasti recording)]
 
|-
 
|-
|15/04/2019 || Monday || 16:15 - 18:15 || --- || --- || --- || -- No Lecture --
+
|31/03/2021 || Wednesday || 10:15 - 13:15 || Online on webex || Matteo Matteucci || Lecture || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=a323ca89bbbb4fd7b30fb68b1037c10c Robot Kinematics (Continued)]
 
|-
 
|-
|17/04/2019 || Wednesday || 12:15 - 14:15 || --- || --- || --- || -- No Lecture --
+
|31/03/2021 || Wednesday || 14:15 - 16:15 || Online on webex || Paolo Cudrano || ROS Team 2 || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=aabb359b39a44780adc917fa1a86ebb1 TF, RVIZ (Cudrano recording)]
 
|-
 
|-
|22/04/2019 || Monday || 16:15 - 18:15 || --- || --- || --- || -- No Lecture --
+
|06/04/2021 || Tuesday || 17:15 - 19:15 || --- || --- || --- || --- No Lecture ---
 
|-
 
|-
|24/04/2019 || Wednesday || 12:15 - 14:15 || --- || --- || --- || -- No Lecture --
+
|07/04/2021 || Wednesday || 10:15 - 13:15 || Online on webex || Matteo Matteucci || Lecture || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=ddc9aed131194c568131dd7e5c0875b3 Localization and LiDARS]
 
|-
 
|-
|29/04/2019 || Monday || 16:15 - 18:15 || 5.0.1 || ROS || Simone Mentasti || Message filters, rospy. First project presentation
+
|07/04/2021 || Wednesday || 14:15 - 16:15 || --- || --- || --- || --- No Lecture ---
 
|-
 
|-
|01/05/2019 || Wednesday || 12:15 - 14:15 || --- || --- || --- || -- No Lecture --
+
|13/04/2021 || Tuesday || 17:15 - 19:15 ||Online on webex|| Paolo Cudrano || ROS Team 1 || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=e08a2c0739214339bf2ce4fb13dbb098 Bags, Message filters and rospy] + [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=fe8dba62b550480d8ab6254f2e5bc8f5 Project 1 Presentation]
 
|-
 
|-
|06/05/2019 || Monday || 16:15 - 18:15 || 5.0.1 || ROS || Simone Mentasti || ROS on multiple machines, time syncronization, stage
+
|14/04/2021 || Wednesday || 10:15 - 13:15 || Online on webex || Matteo Matteucci || Lecture || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=53269a220d2a4b5b885c36bcc1984116 Localization and Bayes filters]
 
|-
 
|-
|08/05/2019 || Wednesday || 12:15 - 14:15 || 5.03 || ROS || Simone Mentasti || Robot Navigation (Part I)
+
|14/04/2021 || Wednesday || 14:15 - 16:15 || Online on webex || Paolo Cudrano || ROS Team 2 || Bags, Message filters and rospy (see previous for recording)
 
|-
 
|-
|13/05/2019 || Monday || 16:15 - 18:15 || 5.0.1 || Lecture || Matteo Matteucci || Simultaneous Localization and Mapping
+
|20/04/2021 || Tuesday || 17:15 - 19:15 || --- || --- || --- || --- No Lecture ---
 
|-
 
|-
|15/05/2019 || Wednesday || 12:15 - 14:15 || 5.03 || ROS || Simone Mentasti || Robot Navigation (Part II)
+
|21/04/2021 || Wednesday || 10:15 - 13:15 || Online on webex || Matteo Matteucci || Lecture || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=fdb9155b23794cc6aac379e0cc2c0bf6 Localization with Kalman filters and Particle filters]
 
|-
 
|-
|20/05/2019 || Monday || 16:15 - 18:15 || 5.0.1 || ROS || Simone Mentasti || Nodlet, openCV-CV-bridge
+
|21/04/2021 || Wednesday || 14:15 - 16:15 || --- || --- || --- || --- No Lecture ---
 
|-
 
|-
|22/05/2019 || Wednesday || 12:15 - 14:15 || 5.03 || ROS || Simone Mentasti || Point Cloud Library.
+
|27/04/2021 || Tuesday || 17:15 - 19:15 || --- || --- || --- || --- No Lecture ---
 
|-
 
|-
|27/05/2019 || Monday || 16:15 - 18:15 || 5.0.1 || Lecture || Matteo Matteucci || Simultaneous Localization and Mapping
+
|28/04/2021 || Wednesday || 10:15 - 13:15 || --- || --- || --- || --- No Lecture ---
 
|-
 
|-
|29/05/2019 || Wednesday || 12:15 - 14:15 || 5.03 || ROS || Simone Mentasti || PROJECT CLINIC
+
|28/04/2021 || Wednesday || 14:15 - 16:15 || --- || --- || --- || --- No Lecture ---
 
|-
 
|-
|03/06/2019 || Monday || 16:15 - 18:15 || 5.0.1 || Lecture || Matteo Matteucci || Simultaneous Localization and Mapping
+
|04/05/2021 || Tuesday || 17:15 - 19:15 || 3.0.2 (EX S.0.5) || Simone Mentasti || ROS Team 1 || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=7f075850e538498aa019575cdcab9eb2 ROS on Multiple Devices]
 
|-
 
|-
|05/06/2019 || Wednesday || 12:15 - 14:15 || 5.03 || Lecture || Matteo Matteucci || Robot Navigation Algorithms
+
|05/05/2021 || Wednesday || 10:15 - 13:15 || Online on webex || Matteo Matteucci || Lecture || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=486985ca26b04cb0962143a7a58491b6 Mapping and SLAM]
 
|-
 
|-
|10/06/2019 || Monday || TBC || TBC || Lecture || Matteo Matteucci || OMRON Robot Presentation + Second Project Presentation
+
|05/05/2021 || Wednesday || 14:15 - 16:15 || 25.2.2 (EX D.3.2) || Simone Mentasti || ROS Team 2 || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=138182322e7a4a799e162e4c49b39a66 ROS on Multiple Devices]
 
|-
 
|-
 +
|11/05/2021 || Tuesday || 17:15 - 19:15 || 3.0.2 (EX S.0.5) || Simone Mentasti || ROS Team 1 || Robot Navigation
 +
|-
 +
|12/05/2021 || Wednesday || 10:15 - 13:15 || Online on webex || Matteo Matteucci || Lecture || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=3aaa118d78b74c67b0398bf9cf5bf2e1 Robot Motion Control]
 +
|-
 +
|12/05/2021 || Wednesday || 14:15 - 16:15 || 25.2.2 (EX D.3.2) || Simone Mentasti || ROS Team 2 || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=39ba34fc6ae649f0b308fa5630451297 Robot Navigation]
 +
|-
 +
|18/05/2021 || Tuesday || 17:15 - 19:15 || 3.0.2 (EX S.0.5) || Simone Mentasti || ROS Team 1 || Robot Navigation (see next)
 +
|-
 +
|<s>19/05/2021</s>||<s>Wednesday</s>||<s>10:15 - 13:15</s>||<s>Online on webex</s>||<s>Matteo Matteucci</s>||<s>Lecture</s>||<s>Algorithms for Robot Navigation</s>
 +
|-
 +
|19/05/2021 || Wednesday || 14:15 - 16:15 || 25.2.2 (EX D.3.2) || Simone Mentasti || ROS Team 2 || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=30436cc0892841c0adffd24cce00c467 Robot Navigation]
 +
|-
 +
|25/05/2021 || Tuesday || 17:15 - 19:15 || 3.0.2 (EX S.0.5) || Simone Mentasti || ROS Team 1 || IMU Tools and robot localization (see next)
 +
|-
 +
|26/05/2021 || Wednesday || 10:15 - 13:15 || Online on webex || Matteo Matteucci || Lecture || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=da607a0ea8ee42508eeb276224ed2f54 Search-based Planning]
 +
|-
 +
|26/05/2021 || Wednesday || 14:15 - 16:15 || 25.2.2 (EX D.3.2) || Simone Mentasti || ROS Team 2 || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=a5e18e1b729a48c4a373873e0d3ea96d IMU Tools and robot localization] + [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=f0a14f56b26445b0929a7465abb9f8b0 Project Presentation] + [https://drive.google.com/drive/folders/1uMwWmQ50iwrMXTJnpTuJdt5YNmnQkrOV?usp=sharing Project folder]
 +
|-
 +
|31/05/2021 || Monday || 13:15 - 16:15 || Online on webex || Matteo Matteucci || Lecture || [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=6fdba09c98844f5eb26b63c39f0cd997 Sampling-based Planning]
 
|}
 
|}
  
 +
<!--
 +
{| border="1" align="center" style="text-align:center;"
 +
|-
 +
|Date || Day || Time || Room || Teacher || Type || Topic
 +
|-
 +
|04/03/2020 || Wednesday || 12:15 - 14:15 || Teams Virtual Room || Lecture || Matteo Matteucci || [https://web.microsoftstream.com/video/0f7f27ac-4930-44d4-8d1c-638855a7d04b Course Logistics] and [https://web.microsoftstream.com/video/b00b4347-5e11-4e13-bbfd-404e89c73b28 Introduction to Robotics]
 +
|-
 +
|05/03/2020 || Thursday  || 14:15 - 16:15 || Teams Virtual Room || Lecture || Matteo Matteucci || [https://web.microsoftstream.com/video/c3abc791-942e-44af-9f70-c9c81e0815f0 Intro to Robot Actuators and DC Motors]
 +
|-
 +
|11/03/2020 || Wednesday || 12:15 - 14:15 || Teams Virtual Room || Lecture || Matteo Matteucci || [https://web.microsoftstream.com/video/7c980e36-9bcc-4462-a79a-ebfbd3967c7b More on Motors and Intro to Robot Sensors]
 +
|-
 +
|12/03/2020 || Thursday || 14:15 - 16:15 || Teams Virtual Room || Lecture || Matteo Matteucci || [https://web.microsoftstream.com/video/89e90ef3-9588-433f-bacd-f93fe6cfb492 Robot Sensors (continued)]
 +
|-
 +
|18/03/2020 || Wednesday || 12:15 - 14:15 || Teams Virtual Room || ROS || Simone Mentasti || [https://web.microsoftstream.com/video/2a1bb9d7-99f0-40b1-9cf0-c832cdf73e2c Middleware for robotics and ROS Installation Party]
 +
|-
 +
|19/03/2020 || Thursday || 14:15 - 16:15 || Teams Virtual Room || ROS || Simone Mentasti || [https://web.microsoftstream.com/video/cedd53c0-24e5-4071-9a4c-de01b7e59d0d Ros workspace, Publisher/subscriber, launch file]
 +
|-
 +
|25/03/2020 || Wednesday || 12:15 - 14:15 || Teams Virtual Room || Lecture || Matteo Matteucci || [https://web.microsoftstream.com/video/712641c5-ac98-4596-93db-0fb7b5aff41c Introduction to Localization and Robot Kinematics]
 +
|-
 +
|26/03/2020 || Thursday || 14:15 - 16:15 || Teams Virtual Room || Lecture || Matteo Matteucci || [https://web.microsoftstream.com/video/3da222dc-ecd9-4e09-9452-d20d606dfa23 Differential Drive Robot Kinematics and Odometry]
 +
|-
 +
|01/04/2020 || Wenesday || 12:15 - 14:15 || Teams Virtual Room || Lecture || Matteo Matteucci || [https://web.microsoftstream.com/video/ccc5ae01-48e1-489d-8f2c-b71a1a1e9cb4 Skid-Steering and Omnidrectional Robot Kinematics and Odometry]
 +
|-2
 +
|02/04/2020 || Thursday || 14:15 - 16:15 || Teams Virtual Room || Lecture || Matteo Matteucci || [https://web.microsoftstream.com/video/03ff3d93-8bdc-49d1-b9fd-3b3242bfa695 Ackerman like Robot Kinematics and Odometry]
 +
|-
 +
|08/04/2020 || Wednesday || 12:15 - 14:15 || Teams Virtual Room || ROS ||Simone Mentasti || [https://web.microsoftstream.com/video/9c83039d-32e5-4396-889e-259eeb80f6a1 Publisher, subscriber, launch file , custom messages]
 +
|-
 +
|09/04/2020 || Thursday || 14:15 - 16:15 || Teams Virtual Room || ROS || Simone Mentasti || [https://web.microsoftstream.com/video/5d2c2cf1-1369-46a8-83ad-a7c4dac24f98 Services, parameters],[https://web.microsoftstream.com/video/7e937b7a-15ac-4a3c-91fa-db16beedf7ef parameters (continued), timers, node architecture]
 +
|-
 +
|15/04/2020 || Wednesday || 12:15 - 14:15 || Teams Virtual Room || ROS ||Simone Mentasti || [https://web.microsoftstream.com/video/d454b7b3-382d-4b96-b082-d7c77bbe11ef TF, Rviz, Actionlib]
 +
|-
 +
|16/04/2020 || Thursday || 14:15 - 16:15 || Teams Virtual Room || ROS || Simone Mentasti || [https://web.microsoftstream.com/video/8ee81454-b420-4d53-ab11-b847d0ee9c46 Message filter, rospy]
 +
|-
 +
|16/04/2020 || Thursday || 14:15 - 16:15 || Teams Virtual Room || ROS || Simone Mentasti || [https://web.microsoftstream.com/video/a02ba753-bbcc-4f9d-84c1-b8d756b94425 Project presentation]
 +
|-
 +
|22/04/2020 || Wenesday || 12:15 - 14:15 || Teams Virtual Room || Lecture || Matteo Matteucci || [https://web.microsoftstream.com/video/b2d048b9-a93d-4fc7-b24b-1185ae16d9d3 Introduction to Robot Localization and LIDAR sensor modeling]
 +
|-
 +
|23/04/2020 || Thursday || 14:15 - 16:15 || Teams Virtual Room || Lecture || Matteo Matteucci || [https://web.microsoftstream.com/video/6c43fe49-74ed-4111-a2c3-fe67bb6a94dd Robot Localization and Bayes Filters (discrete)]
 +
|-
 +
|29/04/2020 || Wednesday || 14:15 - 16:15 || Teams Virtual Room  || --- || --- ||  -- No lectures (Lauree) --
 +
|-
 +
|30/04/2020 || Thursday || 14:15 - 16:15 || Teams Virtual Room  || Lecture || Matteo Matteucci ||  [https://web.microsoftstream.com/video/df9ace9e-286d-4d7d-98dd-1218ef873a62 Robot Localization with (Extended) Kalman Filters]
 +
|-
 +
|06/05/2020 || Wednesday || 12:15 - 14:15 || Teams Virtual Room || Lecture || Matteo Matteucci|| [https://web.microsoftstream.com/video/8dcaf0c6-0508-415e-991a-322c91cc9410 Robot Localization with Particle Filters]
 +
|-
 +
|07/05/2020 || Thursday || 14:15 - 16:15 || Teams Virtual Room || Lecture || Matteo Matteucci|| [https://web.microsoftstream.com/video/13d8a902-697a-4a21-8b0e-182595b62198 Robot Mapping]
 +
|-
 +
|13/05/2020 || Wednesday || 12:15 - 14:15 ||  Teams Virtual Room || Lecture ||  Matteo Matteucci || [https://web.microsoftstream.com/video/a35eb86f-faf4-4849-b075-6c766fe35e15 Simultaneous Localization and Mapping]
 +
|-
 +
|14/05/2020 || Thursday || 14:15 - 16:15 ||  Teams Virtual Room || Lecture || Matteo Matteucci || [https://web.microsoftstream.com/video/2ee901d0-d883-477d-bcf3-9f7c93f3ab19 Simultaneous Localization and Mapping]
 +
|-
 +
|20/05/2020 || Wednesday || 12:15 - 14:15 ||  Teams Virtual Room || Lecture ||  Matteo Matteucci || [https://web.microsoftstream.com/video/10b205f8-75d9-4010-ade7-f42c0e7f8afe Robot Navigation Algorithms]
 +
|-
 +
|21/05/2020 || Thursday || 14:15 - 16:15 ||  Teams Virtual Room || Lecture || Matteo Matteucci || [https://web.microsoftstream.com/video/e798be4d-f6a3-40bd-a657-3141cc5a5342 Robot Navigation Algorithms]
 +
|-
 +
|27/05/2020 || Wednesday || 12:15 - 14:15 ||  Teams Virtual Room || ROS || Simone Mentasti || [https://web.microsoftstream.com/video/f77b9fa4-3582-495c-b9d3-4a145ec2d53f ROS on multiple devices, Actionlib]
 +
|-
 +
|28/05/2020 || Thursday || 14:15 - 16:15 ||  Teams Virtual Room || ROS || Simone Mentasti || [https://web.microsoftstream.com/video/ffb64e1b-defa-43dc-8e61-c3394fb472ec Robot Navigation (Introduction)]
 +
|-
 +
|03/06/2020 || Wednesday || 12:15 - 14:15 ||  Teams Virtual Room || ROS || Simone Mentasti || [https://web.microsoftstream.com/video/ca22b7e3-a71d-4dbe-a344-4979a3198e8b Robot simulators] and [https://web.microsoftstream.com/video/36cb2045-2e24-4b84-8773-d5c171ecf4ed Robot Navigation (Examples)]
 +
|-
 +
|04/06/2020 || Thursday || 14:15 - 16:15 ||  Teams Virtual Room || ROS || Simone Mentasti || [https://web.microsoftstream.com/video/d285b29c-df90-44d1-9df6-8ceb375654cd IMU Tools, Robot Localization]
 +
|-
 +
|04/06/2020 || Thursday || 14:15 - 16:15 ||  Teams Virtual Room || ROS || Simone Mentasti || [https://web.microsoftstream.com/video/e7e8bbbc-0387-4920-bf10-feeb29ab6c81 Second project presentation] with [[Media:Robotics_2019_2020_second_project.pdf |slides]]
 +
|-
 +
|12/06/2020 || Friday || 16:30 - 18:30 || Zoom Virtual Room || Lecture || Matteo Matteucci || Q&A + Exam Rehearsal
 +
|}
 +
-->
 +
<!--|-
 +
|13/05/2020 || Wednesday || 12:15 - 14:15 || 5.1.1 || Lecture ||  Matteo Matteucci || Simultaneous Localization and Mapping
 +
|-
 +
|14/05/2020 || Thursday || 14:15 - 16:15 || 6.0.1 || Lecture || Matteo Matteucci || Simultaneous Localization and Mapping
 +
|-
 +
|20/05/2020 || Wednesday || 12:15 - 14:15 || 5.1.1 || Lecture ||  Matteo Matteucci || Robot Navigation Algorithms
 +
|-
 +
|21/05/2020 || Thursday || 14:15 - 16:15 || 6.0.1 || Lecture || Matteo Matteucci || Robot Navigation Algorithms
 +
|-
 +
|27/05/2020 || Wednesday || 12:15 - 14:15 || 5.1.1 || ROS || Simone Mentasti || Message filters, rospy. First project presentation
 +
|-
 +
|28/05/2020 || Thursday || 14:15 - 16:15 || 6.0.1 || ROS || Simone Mentasti || ROS on multiple machines, time syncronization, stage
 +
|-
 +
|03/06/2020 || Wednesday || 12:15 - 14:15 || 5.1.1 || ROS || Simone Mentasti || Robot Navigation (Part I)
 +
|-
 +
|04/06/2020 || Thursday || 14:15 - 16:15 || 6.0.1 || ROS || Simone Mentasti || Robot Navigation (Part II)
 +
|-
 +
| -- || -- || -- || -- || -- || -- || --
 +
|-
 +
| -- || -- || -- || -- || -- || -- || --
 +
|}
 +
-->
 
<!--
 
<!--
 
{| border="1" align="center" style="text-align:center;"
 
{| border="1" align="center" style="text-align:center;"
Line 387: Line 542:
 
Course evaluation is composed by two parts:
 
Course evaluation is composed by two parts:
  
* A written examination covering the whole program graded up to 27/32
+
* A written examination covering the whole program graded up to 26/32
* A home project in simulation practicing the topics of the course graded up to 5/32
+
* A home project in simulation practicing the topics of the course graded up to 6/32
  
 
The final score will sum the grade of the written exam and the grade of the home project.
 
The final score will sum the grade of the written exam and the grade of the home project.
  
In some (exceptional) cases the home project could be substituted with a lab project, possibly with a slightly higher grade, but this has to be motivated and discussed with the teacher.
+
===Course Project (i.e., the two [2] homeworks)===
  
===Course Project===
+
In the course project, you will use [http://www.ros.org/ ROS] to develop a simple autonomous mobile robot performing simple mapping, localization, and navigation task. The project requires some coding either in C++ / Python following what will be presented during the lectures (we suggest using C++ as it will be the language used in class). The project will be presented in two (2) parts you have about one month to do each. Details will follow.
 
+
In the course project you will use [http://www.ros.org/ ROS] to develop a simple autonomous mobile robot performing a simple mapping, localization and navigation task. The project requires some coding either in C++ / Python following what will be presented during the lectures. The project will be presented in two parts you have about one month to do each. Details will follow.
+
  
 
==Teaching Material (the textbook)==  
 
==Teaching Material (the textbook)==  
Line 405: Line 558:
  
 
Slides from the lectures by Matteo Matteucci
 
Slides from the lectures by Matteo Matteucci
*[[Media:Robotics_00_2020_Course_Introduction.pdf|[2019/2020] Course Introduction]]: introductory slides of the course with useful information about the course syllabus, grading, and the course logistics.  
+
*[[Media:Robotics_00_2021_Course_Introduction.pdf|[2020/2021] Course Introduction]]: introductory slides of the course with useful information about the course syllabus, grading, and the course logistics.  
*[[Media:Robotics_01_2020_Introduction.pdf|[2019/2020] Introduction to Robotics]]: Introduction to Robotics, definitions, examples and SAP cognitive model.  
+
*[[Media:Robotics_01_2021_Introduction.pdf|[2020/2021] Introduction to Robotics]]: Introduction to Robotics, definitions, examples and SAP cognitive model.  
*[[Media:Robotics_02_2019_Sensors_Actuators.pdf |[2018/2019] Sensors and Actuators]]: an overview of most commonly used actuator and sensors in robotics, the DC motor and its characteristics, gears and torque.
+
*[[Media:Robotics_02_2021_Sensors_Actuators.pdf |[2020/2021] Sensors and Actuators]]: an overview of most commonly used actuator and sensors in robotics, the DC motor and its characteristics, gears and torque. Sensor classification, common sensors in robotics with pros and cons.
*[[Media:Robotics_03_2019_Odometry.pdf |[2018/2019] Robot Odometry]]: Robot Localization intro, direct and inverse kinematics, robot odometry for different kinematics (differential drive, skid steering, Ackerman, etc.).
+
*[[Media:Robotics_03_2021_Odometry.pdf |[2020/2021] Robot Odometry]]: Robot Localization intro, direct and inverse kinematics, robot odometry for different kinematics (differential drive, skid steering, Ackerman, etc.).
*[[Media:Robotics_04_2019_Localization.pdf |[2018/2019] Robot Localization]]: Sensor models, Robot Localization, Bayesian filtering, Kalman Filtering, Monte Carlo Localization.
+
*[[Media:Robotics_04_2021_Localization.pdf |[2020/2021] Robot Localization]]: Sensor models, Robot Localization, Bayesian filtering, Kalman Filtering, Monte Carlo Localization.
*[[Media:Robotics_05_2019_SLAM.pdf |[2018/2019] Simultaneous Localization and Mapping]]: Mapping with known poses, scan matching, EKF-SLAM, FAST-SLAM
+
*[[Media:Robotics_05_2021_SLAM.pdf |[2020/2021] Simultaneous Localization and Mapping]]: Mapping with known poses, scan matching, EKF-SLAM, FAST-SLAM
 
** [https://drive.google.com/drive/folders/1JO8AQIWaOYeW11d9rInox0pZPZG-fdfc?usp=sharing At this link] you can find the videos included in the slides about (simulataneous) localization and mapping  
 
** [https://drive.google.com/drive/folders/1JO8AQIWaOYeW11d9rInox0pZPZG-fdfc?usp=sharing At this link] you can find the videos included in the slides about (simulataneous) localization and mapping  
*[[Media:Robotics_06_2019_MotionControl_tmp.pdf |[2018/2019] Robot Motion Control]]: Introduction to motion control, Virtual Histogram methods, Dynamic Window Approach  
+
*[[Media:Robotics_06_2021_MotionControl_tmp.pdf |[2020/2021] Robot Motion Control]]: Introduction to motion control, Virtual Histogram methods, Dynamic Window Approach (+ planning algorithms)
 
<!--
 
<!--
 
*[[Media:Robotics_03_Mobile_Robots_Kinematics.pdf |[2015/2016] Mobile Robots Kinematics]]: mobile (wheeled) robot kinematics, holonomic and non holonomic constraints, differential drive model. [https://drive.google.com/open?id=0B5eSI7n7LkDhM3NIRGlNdktRSzA ppsx]
 
*[[Media:Robotics_03_Mobile_Robots_Kinematics.pdf |[2015/2016] Mobile Robots Kinematics]]: mobile (wheeled) robot kinematics, holonomic and non holonomic constraints, differential drive model. [https://drive.google.com/open?id=0B5eSI7n7LkDhM3NIRGlNdktRSzA ppsx]
Line 420: Line 573:
 
<!--Slides from the lectures by Simone Mentasti as well as examples can be found [https://goo.gl/GonArW at this link], for your convenience we publish here the PDF of the lectures, but check the previous link for coding examples:-->
 
<!--Slides from the lectures by Simone Mentasti as well as examples can be found [https://goo.gl/GonArW at this link], for your convenience we publish here the PDF of the lectures, but check the previous link for coding examples:-->
  
Slides from the lectures by Simone Mentasti
+
Last version of slides from the lectures by Paolo Cudrano are available [https://polimi365-my.sharepoint.com/:f:/g/personal/10457911_polimi_it/Eq7UEjxDOOtNrZtvLSKLrEUBNqIpjixIA-hirJtTuB2RBA HERE!].
 +
 
 +
Last version of slides from the lectures by Simone Mentasti are available [https://goo.gl/GonArW HERE!].
 +
 
 +
Past year slides are below:
 
*[[Media:Robotics_L1_2019_ex.pdf|[2018/2019] Middleware in Robotics]]: Middleware for robotics and ROS Installation Party
 
*[[Media:Robotics_L1_2019_ex.pdf|[2018/2019] Middleware in Robotics]]: Middleware for robotics and ROS Installation Party
 
*[[Media:Robotics_L2_2019_ex.pdf|[2018/2019] ROS Environment]]: Ros workspace, publisher/subscriber
 
*[[Media:Robotics_L2_2019_ex.pdf|[2018/2019] ROS Environment]]: Ros workspace, publisher/subscriber
Line 429: Line 586:
 
*[[Media:Robotics_L7_2019_ex.pdf|[2018/2019] Robot Navigation]]: ROS Navigation Stack, Movebase, Navcore, Gmapping
 
*[[Media:Robotics_L7_2019_ex.pdf|[2018/2019] Robot Navigation]]: ROS Navigation Stack, Movebase, Navcore, Gmapping
 
*[[Media:Robotics_L9_2019_ex.pdf|[2018/2019] Opencv/CV_BRIDGE]]: how to nterface OpenCV and ROS  
 
*[[Media:Robotics_L9_2019_ex.pdf|[2018/2019] Opencv/CV_BRIDGE]]: how to nterface OpenCV and ROS  
*[[Media:Robotics_L10_2019_ex.pdf|[2018/2019] Robot Localization]]: useful stuff for the course project ;-)  
+
*[[Media:Robotics_L10_2019_ex.pdf|[2018/2019] Robot Localization]]: useful stuff for the course project ;-)
 +
 
 +
===Useful stuff from the web===
 +
These are videos from the web which might be useful to understand better the material presented in the lectures
 +
*[https://www.youtube.com/watch?v=LAtPHANEfQo Understanding DC Brushed Motors] by Learn Engineering
 +
*[https://www.youtube.com/watch?v=bCEiOnuODac Understanding DC Brushless Motors] by Learn Engineering
 +
*[https://www.youtube.com/watch?v=eyqwLiowZiU Understanding DC Stepper Motors] by Learn Engineering
 +
 
 +
This blog post can be useful to better understand the EKF-SLAM idea and implementation
 +
*[https://jihongju.github.io/2019/07/06/ekfslam-hands-on-tutorial/ EKF-SLAM hands-on tutorial] by Jihong Ju
 +
 
 +
If you have problems in installing Linux on your machine you can use a USB drive distro and boot on it instead of your OS. '''Note''': We are testing this guide these days we might have some tips and tricks for it so stay tuned!
 +
*[https://www.fosslinux.com/10212/how-to-install-a-complete-ubuntu-on-a-usb-flash-drive.htm How to install a complete ubuntu on a USB flash drive] (need to have the USB drive inserted to boot)
 +
 
 +
The ROS framework is C++ based, if you want to check some C++ tutorial online you can have a look at
 +
* [https://www.programiz.com/cpp-programming Simple, basic topics about C++]
 +
* [https://www.cplusplus.com/doc/tutorial/ A more detailed tutorial about C++]
 +
* [https://www.learncpp.com/ An even more detailed tutorial on C++] (you can just focus on some particular chapters. In particular, Ch. 11 seems interesting as a detailed overview of Object-Oriented Programming, if you are not familiar with it.)
 +
 
 +
===Useful readings===
 +
These are papers which explain some of the topics in the lecture with a higher level of details
 +
*[https://www.mdpi.com/1424-8220/15/5/9681/pdf Analysis and experimental kinematics of a skid-steering wheeled robot based on a laser scanner sensor.] Wang, Tianmiao, Yao Wu, Jianhong Liang, Chenhao Han, Jiao Chen, and Qiteng Zhao. Sensors 15, no. 5 (2015): 9681-9702.
 +
*[http://www.iri.upc.edu/people/jsola/JoanSola/objectes/curs_SLAM/SLAM2D/SLAM%20course.pdf Simultaneous localization and mapping with the extended Kalman filter.] Joan Sola'.
 +
*[http://robots.stanford.edu/papers/Thrun03g.pdf FastSLAM: An Efficient Solution to the Simultaneous Localization And Mapping Problem with Unknown Data Association.] Sebastian Thrun, Michael Montemerlo, Daphne Koller, Ben Wegbreit, Juan Nieto, and Eduardo Nebot.
  
 
<!--
 
<!--
Line 459: Line 639:
 
*[[Media:Robotics_diffdrive.zip | [2015/2016] diffdrive.zip]]: a ROS motion control architecture for a diffdrive robot-->
 
*[[Media:Robotics_diffdrive.zip | [2015/2016] diffdrive.zip]]: a ROS motion control architecture for a diffdrive robot-->
  
===Course Project===
+
===Course Projects===
  
Not yet out ...
+
Here they are the curse homework projects:
 +
* The first course project has been published on 14/04/2021
 +
** The description of the first ROS Project is [https://polimi365-my.sharepoint.com/:b:/g/personal/10457911_polimi_it/Ees1RgOSL1REiK1iqBS--ZABXEwE1jC3dQdFHTmJPlyK3A?e=ahN4bx HERE]
 +
** The material for the project is [https://polimi365-my.sharepoint.com/:f:/g/personal/10457911_polimi_it/EjJKNz1Lxr9MqW8b5XyIepsBMNrJb7O4oqF6UoHl14758A?e=40GxFe HERE]
 +
** You have to deliver it by 16/05/2021 !!!
 +
* The second course project has been published on 26/05/2021
 +
** The description of the second ROS Project is [https://politecnicomilano.webex.com/politecnicomilano/ldr.php?RCID=f0a14f56b26445b0929a7465abb9f8b0 HERE]
 +
** The material for the project is [https://drive.google.com/drive/folders/1uMwWmQ50iwrMXTJnpTuJdt5YNmnQkrOV?usp=sharing HERE]
 +
** You have to deliver it by 27/06/2021 !!!
 +
 
 +
==Frequently Asked Questions==
 +
 
 +
===Course Structure===
 +
 
 +
'''What is the biggest difference with the course 093217 ROBOTICS AND DESIGN?'''
 +
* Robotics and Design is a practical course focused on the development of a robotics application, you will not learn about the theoretical aspects of robotics, but you will build a robot with a purpose which changes every year. I consider the two courses as complimentary.
 +
 
 +
===Exams and Evaluation===
 +
 
 +
'''Are there any solutions available for the past exams?'''
 +
* No, if you have doubts or questions, just send me your proposed solution and I will reply tailoring the answer to your current understanding.
 +
 
 +
'''Is it important to buy/read the text book to be able to follow the course? I can’t find it in the library, is there any alternative book?'''
 +
* No, it is not required, as from past experience attending classes and checking the material provided y the teachers is enough. Obviously reading the book will provide much more information..
 +
 
 +
===Homeworks and ROS===
 +
 
 +
'''In the schedule when it says ROS, are these lectures as well or are they practical work i.e. lab/excercise?'''
 +
*They are ex-cathedra lectures where you are expected to bring your laptop, it is not mandatory and you can follow the class in a classical passive way, but I suggest to consider it as a lab and take your laptop with you if you can.
 +
 
 +
'''Out of all the scheduled activities this semester, approximately how many of these are practical lab/excercise?
 +
* Indeed not all ROS lectures will present coding exercises, I expect half of them will be about coding and the other half more on the technical background you need to understand what you are coding.
 +
 
 +
'''Should I install ROS on my laptop/desktop?'''
 +
*Absolutely yes. This means you need to have linux on your machine, possibly ubuntu 16.04 or 18.04. This can be achieved in different ways, we suggest a native install via dual boot or as main operating system (we do not take any responsibility of something happening to your data or hardware in doing this operation). Other options such as virtual machine or live distro are not as effective as a real install, but they work.
 +
 
 +
'''Which editor/IDE should I use for ROS?'''
 +
* We do not suggest any particular editor for ROS, standard text editors such as nano/gedit/sublime + a terminal are enough. Nevertheless, you can use the environment you prefer for C++ development; some students, in the past, have used Eclipse or Clion. You can also check the [http://wiki.ros.org/IDEs list of supported ROS editors] or [https://github.com/tonyrobotics/roboware-studio Roboware], the latter has been designed for ROS, but it does not offer any special feature you will miss using standard C/C++ editors.
 +
 
 +
'''As I understand the “homework/project” is a group project. Is this correct and how are the groups formed?'''
 +
* It is not a group project, while it is allowed to do it in groups (up to 3 people). I expect the groups to form naturally in classes. We usually set up a slack group for the project you can organize autonomously. Nevertheless, you can do the project alone as well (but we advise you to do it in groups).
 +
 
 +
'''When “Part 1” of the homework/project will start?'''
 +
* Right after we have finished the first block of lectures about ROS. This should happen around Easter plus/minus a week.
  
 
==Past Years Useful Material==  
 
==Past Years Useful Material==  
Line 481: Line 704:
  
 
Here you find past course projects in case you are interested in checking what your colleagues have been pass through before you. In some cases they may have been more lucky in some others you might be the lucky one ... that's life! ;-)  
 
Here you find past course projects in case you are interested in checking what your colleagues have been pass through before you. In some cases they may have been more lucky in some others you might be the lucky one ... that's life! ;-)  
 +
 +
====Homework 2019/2020====
 +
 +
Here they are the curse homework projects:
 +
* [https://drive.google.com/drive/folders/1bbkGsgcp7LNQX6F-uVFyqv0W1MBWH3CZ First project] deadline 8th of May 2020.
 +
* [[Media:Robotics_2019_2020_second_project.pdf |Second project presentation]] deadline 5th of July 2020.
  
 
====Homework 2018/2019====
 
====Homework 2018/2019====

Latest revision as of 15:55, 10 September 2021


The following are last-minute news you should be aware of ;-)

* 10/09/2021: results of 30/08/2021 call for Laureandi are here. They include all HW1 grades! 
* 20/08/2021: results of 26/07/2021 call are here. They include all HW1 grades! Green grades will be rounded up with ceil.
* 25/07/2021: results of 29/06/2021 call are here. They include all HW1 grades! Green rows will be rounded up with ceil.
* 20/07/2021: results of 29/06/2021 call are here ... they do not include all HW1 grades!
* 09/07/2021: results of 29/06/2021 call for graduating students are here
* 08/06/2021: all lecture videos are now published and slides pdf updated.
* 26/05/2021: The link to the form to request an instance of remote examination for June and July is here!
* 26/05/2021: Revised final schedule of the course, last lecture will be on 31/05/2021
* The second robotics project is out!
* 21/04/2021: You can join the course MS Team here
* 14/04/2021: The first homework project is out! Check it here
* 09/04/2021: Lab sessions will be back to presence from 20/04/2021 on (check the detailed schedule)
* 09/04/2021: Added a new lecture on 21/04/2021 to recover the one missed two weeks ago
* 30/03/2021: Today's lab webex room is Simone Mentasti one
* 25/03/2021: Added link to the last lab video and some references about C++ 
* 24/03/2021: This morning lecture is canceled (afternoon lab will happen as usual)
* 06/03/2021: Updated video from the lab and the lectures
* 05/03/2021: Added link to USB stick linux distribution here!!!
* 05/03/2021: From today until new communication lectures and labs will be online in the professor webex room
* 03/03/2021: Today's lab webex room is Simone Mentasti one (for presence no change, is the normal class)
* 24/02/2021: Lecture videos and slides published 
* 24/02/2021: Lectures start today!


Course Aim & Organization

This course will introduce basic concepts and techniques used within the field of autonomous mobile robotics. We analyze the fundamental challenges for autonomous intelligent systems when these move on wheels or legs and present the state of the art solutions currently employed in mobile robots and autonomous vehicles with a focus on autonomous navigation, perception, localization, and mapping.

Teachers

The course is composed by a blending of lectures and exercises by the course teacher and a teaching assistant.

Course Program

Lectures will provide theoretical background and real world examples. Lectures will be complemented with practical software exercises in simulation and on real data for all the proposed topics and the students will be guided in developing the algorithms to control an autonomous robot.

Among other topics, we will discuss:

  • Mobile robots kinematics,
  • Sensors and perception,
  • Robot localization and map building,
  • Simultaneous Localization and Mapping (SLAM),
  • Path planning and collision avoidance.

Detailed course schedule

A detailed schedule of the course can be found here; topics are just indicative while days and teachers are correct up to some last minute change (I will notify you by email). Please note that not all days we have lectures!!

Note: Lecture timetable interpretation

  • On Tuesdays (Team 1 - Odd Numero Persona), in 3.0.2 (EX S.0.5), starts at 17:30, ends at 19:15
  • On Wednesdays, in teacher webex room, starts at 10:30, ends at 13:15
  • On Wednesdays (Team 2 - Even Numero Persona), in 25.2.2 (EX D.3.2), starts at 14:30, ends at 16:15


Date Day Time Room Teacher Type Topic
24/02/2021 Wednesday 10:15 - 13:15 Online on webex Matteo Matteucci Lecture Course logistics + Introduction to Robotics
24/02/2021 Wednesday 14:15 - 16:15 --- --- --- --- No Lecture ---
02/03/2021 Tuesday 17:15 - 19:15 3.0.2 (EX S.0.5) Paolo Cudrano ROS Team 1 Introduction to middleware in Robotics
03/03/2021 Wednesday 10:15 - 13:15 Online on webex Matteo Matteucci Lecture Sensors and Actuators
03/03/2021 Wednesday 14:15 - 16:15 25.2.2 (EX D.3.2) Simone Mentasti ROS Team 2 Introduction to middleware in Robotics
09/03/2021 Tuesday 17:15 - 19:15 Online on webex Paolo Cudrano ROS Team 1 ROS Basics (see next for recoding)
10/03/2021 Wednesday 10:15 - 13:15 Online on webex Matteo Matteucci Lecture Robot Sensors and Intro to SLAM
10/03/2021 Wednesday 14:15 - 16:15 Online on webex Paolo Cudrano ROS Team 2 ROS Basics
16/03/2021 Tuesday 17:15 - 19:15 Online on webex Paolo Cudrano ROS Team 1 Publishers and Subscribers (see next for recording)
17/03/2021 Wednesday 10:15 - 13:15 Online on webex Matteo Matteucci Lecture Robot Kinematics (Differential Drive)
17/03/2021 Wednesday 14:15 - 16:15 Online on webex Paolo Cudrano ROS Team 2 Publishers and Subscribers
23/03/2021 Tuesday 17:15 - 19:15 Online on webex Paolo Cudrano ROS Team 1 Services and Parameters (see next for recording)
24/03/2021 Wednesday 10:15 - 13:15 Online on webex Matteo Matteucci Lecture Robot Kinematics
24/03/2021 Wednesday 14:15 - 16:15 Online on webex Paolo Cudrano ROS Team 2 Services and Parameters
30/03/2021 Tuesday 17:15 - 19:15 Online on webex Simone Mentasti ROS Team 1 TF, RVIZ (Mentasti recording)
31/03/2021 Wednesday 10:15 - 13:15 Online on webex Matteo Matteucci Lecture Robot Kinematics (Continued)
31/03/2021 Wednesday 14:15 - 16:15 Online on webex Paolo Cudrano ROS Team 2 TF, RVIZ (Cudrano recording)
06/04/2021 Tuesday 17:15 - 19:15 --- --- --- --- No Lecture ---
07/04/2021 Wednesday 10:15 - 13:15 Online on webex Matteo Matteucci Lecture Localization and LiDARS
07/04/2021 Wednesday 14:15 - 16:15 --- --- --- --- No Lecture ---
13/04/2021 Tuesday 17:15 - 19:15 Online on webex Paolo Cudrano ROS Team 1 Bags, Message filters and rospy + Project 1 Presentation
14/04/2021 Wednesday 10:15 - 13:15 Online on webex Matteo Matteucci Lecture Localization and Bayes filters
14/04/2021 Wednesday 14:15 - 16:15 Online on webex Paolo Cudrano ROS Team 2 Bags, Message filters and rospy (see previous for recording)
20/04/2021 Tuesday 17:15 - 19:15 --- --- --- --- No Lecture ---
21/04/2021 Wednesday 10:15 - 13:15 Online on webex Matteo Matteucci Lecture Localization with Kalman filters and Particle filters
21/04/2021 Wednesday 14:15 - 16:15 --- --- --- --- No Lecture ---
27/04/2021 Tuesday 17:15 - 19:15 --- --- --- --- No Lecture ---
28/04/2021 Wednesday 10:15 - 13:15 --- --- --- --- No Lecture ---
28/04/2021 Wednesday 14:15 - 16:15 --- --- --- --- No Lecture ---
04/05/2021 Tuesday 17:15 - 19:15 3.0.2 (EX S.0.5) Simone Mentasti ROS Team 1 ROS on Multiple Devices
05/05/2021 Wednesday 10:15 - 13:15 Online on webex Matteo Matteucci Lecture Mapping and SLAM
05/05/2021 Wednesday 14:15 - 16:15 25.2.2 (EX D.3.2) Simone Mentasti ROS Team 2 ROS on Multiple Devices
11/05/2021 Tuesday 17:15 - 19:15 3.0.2 (EX S.0.5) Simone Mentasti ROS Team 1 Robot Navigation
12/05/2021 Wednesday 10:15 - 13:15 Online on webex Matteo Matteucci Lecture Robot Motion Control
12/05/2021 Wednesday 14:15 - 16:15 25.2.2 (EX D.3.2) Simone Mentasti ROS Team 2 Robot Navigation
18/05/2021 Tuesday 17:15 - 19:15 3.0.2 (EX S.0.5) Simone Mentasti ROS Team 1 Robot Navigation (see next)
19/05/2021 Wednesday 10:15 - 13:15 Online on webex Matteo Matteucci Lecture Algorithms for Robot Navigation
19/05/2021 Wednesday 14:15 - 16:15 25.2.2 (EX D.3.2) Simone Mentasti ROS Team 2 Robot Navigation
25/05/2021 Tuesday 17:15 - 19:15 3.0.2 (EX S.0.5) Simone Mentasti ROS Team 1 IMU Tools and robot localization (see next)
26/05/2021 Wednesday 10:15 - 13:15 Online on webex Matteo Matteucci Lecture Search-based Planning
26/05/2021 Wednesday 14:15 - 16:15 25.2.2 (EX D.3.2) Simone Mentasti ROS Team 2 IMU Tools and robot localization + Project Presentation + Project folder
31/05/2021 Monday 13:15 - 16:15 Online on webex Matteo Matteucci Lecture Sampling-based Planning


Course Evaluation

Course evaluation is composed by two parts:

  • A written examination covering the whole program graded up to 26/32
  • A home project in simulation practicing the topics of the course graded up to 6/32

The final score will sum the grade of the written exam and the grade of the home project.

Course Project (i.e., the two [2] homeworks)

In the course project, you will use ROS to develop a simple autonomous mobile robot performing simple mapping, localization, and navigation task. The project requires some coding either in C++ / Python following what will be presented during the lectures (we suggest using C++ as it will be the language used in class). The project will be presented in two (2) parts you have about one month to do each. Details will follow.

Teaching Material (the textbook)

Lectures will be based on material from different sources, teachers will provide their slides to students as soon they are available.

Course Slides

Slides from the lectures by Matteo Matteucci

Last version of slides from the lectures by Paolo Cudrano are available HERE!.

Last version of slides from the lectures by Simone Mentasti are available HERE!.

Past year slides are below:

Useful stuff from the web

These are videos from the web which might be useful to understand better the material presented in the lectures

This blog post can be useful to better understand the EKF-SLAM idea and implementation

If you have problems in installing Linux on your machine you can use a USB drive distro and boot on it instead of your OS. Note: We are testing this guide these days we might have some tips and tricks for it so stay tuned!

The ROS framework is C++ based, if you want to check some C++ tutorial online you can have a look at

Useful readings

These are papers which explain some of the topics in the lecture with a higher level of details


Course Projects

Here they are the curse homework projects:

  • The first course project has been published on 14/04/2021
    • The description of the first ROS Project is HERE
    • The material for the project is HERE
    • You have to deliver it by 16/05/2021 !!!
  • The second course project has been published on 26/05/2021
    • The description of the second ROS Project is HERE
    • The material for the project is HERE
    • You have to deliver it by 27/06/2021 !!!

Frequently Asked Questions

Course Structure

What is the biggest difference with the course 093217 ROBOTICS AND DESIGN?

  • Robotics and Design is a practical course focused on the development of a robotics application, you will not learn about the theoretical aspects of robotics, but you will build a robot with a purpose which changes every year. I consider the two courses as complimentary.

Exams and Evaluation

Are there any solutions available for the past exams?

  • No, if you have doubts or questions, just send me your proposed solution and I will reply tailoring the answer to your current understanding.

Is it important to buy/read the text book to be able to follow the course? I can’t find it in the library, is there any alternative book?

  • No, it is not required, as from past experience attending classes and checking the material provided y the teachers is enough. Obviously reading the book will provide much more information..

Homeworks and ROS

In the schedule when it says ROS, are these lectures as well or are they practical work i.e. lab/excercise?

  • They are ex-cathedra lectures where you are expected to bring your laptop, it is not mandatory and you can follow the class in a classical passive way, but I suggest to consider it as a lab and take your laptop with you if you can.

Out of all the scheduled activities this semester, approximately how many of these are practical lab/excercise?

  • Indeed not all ROS lectures will present coding exercises, I expect half of them will be about coding and the other half more on the technical background you need to understand what you are coding.

Should I install ROS on my laptop/desktop?

  • Absolutely yes. This means you need to have linux on your machine, possibly ubuntu 16.04 or 18.04. This can be achieved in different ways, we suggest a native install via dual boot or as main operating system (we do not take any responsibility of something happening to your data or hardware in doing this operation). Other options such as virtual machine or live distro are not as effective as a real install, but they work.

Which editor/IDE should I use for ROS?

  • We do not suggest any particular editor for ROS, standard text editors such as nano/gedit/sublime + a terminal are enough. Nevertheless, you can use the environment you prefer for C++ development; some students, in the past, have used Eclipse or Clion. You can also check the list of supported ROS editors or Roboware, the latter has been designed for ROS, but it does not offer any special feature you will miss using standard C/C++ editors.

As I understand the “homework/project” is a group project. Is this correct and how are the groups formed?

  • It is not a group project, while it is allowed to do it in groups (up to 3 people). I expect the groups to form naturally in classes. We usually set up a slack group for the project you can organize autonomously. Nevertheless, you can do the project alone as well (but we advise you to do it in groups).

When “Part 1” of the homework/project will start?

  • Right after we have finished the first block of lectures about ROS. This should happen around Easter plus/minus a week.

Past Years Useful Material

Here you find material from past editions of the course that you umight find useful in preparing the exam.

Past Exams and Sample Questions

Since the 2015/2016 Academic Year the course has changed the teacher and this has changed significantly the program and the exam format as well. For this reason we do not have many past exams to share with you, they will accumulate along the years tho.

Past Course Project

Here you find past course projects in case you are interested in checking what your colleagues have been pass through before you. In some cases they may have been more lucky in some others you might be the lucky one ... that's life! ;-)

Homework 2019/2020

Here they are the curse homework projects:

Homework 2018/2019

The 2018/2019 course project is divided in two releases. The homework philosophy should be "You have to struggle, but not too much!". Indeed the homework is made to challenge you and make you exercising and learn by doing, nevertheless if you find yourself stuck please write us and we will give you the required hints to continue and complete ... this includes extending the deadline (for all) or allowing you to use python instead of C++ (for selected students).

Advice: Start as soon as possible doing the homework!

Homework

Homework 2016/2017

The 2016/2017 course project is divided in two releases to provide you something to work on as early as possible during the course. The homework philosophy should be "You have to struggle, but not too much!". Indeed the homework is made to challenge you and make you exercising and learn by doing, nevertheless if you find yourself stuck please write us and we will give you the required hints to continue and complete.

Advice: Start as soon as possible doing the homework!

Homework

Homework 2015/2016

This year project is divided in steps; each of them is worth some points out of the 5/32 points available for the final mark. You find the project description here, it is complete, it contains parts up to 4, parts 5 is optional, but we suggest to do it anyway since it requires a limited amount of time.:

  • 2015/2016 Course Project v1.0
  • 2015/2016 Kobra STL files: in case you want to make your simulation look more real here you find the STL files of the Kobra robot in the "Safer" version. Unfortunately the STL files are scaled down with respect to the real robot, so you have to modify those if you want to use.

Additional Resources

If you are interested in a more deep treatment of the topics presented by the teachers you can refer to the following books and papers:

The following are links to online sources which might be useful to complement the material above

  • ISO 8373:2012: ISO Standard "Robots and robotic devices -- Vocabulary"
  • ROS: the Robot Operating System
  • Gazebo: the Gazebo robot simulator
  • AIRLab ROS Howto: a gentle introduction to ROS with node template and program examples