Copyright © Antonio D'Angelo, Univ. of Udine
The aim of the course is that to provide a student with practical tools to understand and implement programs which are able to control autonomous vehicles. The general notion of situated agent is presented by introducing concepts like behaviour-based systems, the direct coupling of perception to action, the dynamical interaction with the environment. The focus of attention is especially oriented to autonomous vehicle control by discussing a number of distinguishing examples from the technical literature. The locomotion problem for the so called legged-robots is also presented discussing various kinds of mechanical structures, humanoids included.
The course is intended to understand the underlying principles which distinguish robot control programs from computer programs. Their specific features are introduced starting from the point of view of the behaviour-based systems starting from the direct coupling of perception to action and the dynamic interaction with the environment. In this perspective a general method to implement autonomous robot control is discussed, including legged and humanoid robotics. Multirobot systems are also presented. A number of examples from autonomous robotics are discussed including details of vehicle control with some possible experimental lectures using available moving platforms. Students are encouraged to gain insights starting from the topics presented during lectures and to make guided experimentations.
The topics are primarily based on situated agents, behaviour-based architectures, reactive systems but the connection with A.I. and planning are also discussed. Biological motivations, adaptive and collective behaviours are introduced but also industrial manipulators performing an automatic assembly are presented and discussed.
A preliminary In the following you can find a preliminary program of the course. A more precise scheduling of the lectures will appear before the beginning of the first one.