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Autonomous and Mobile Robotics Prof. Giuseppe Oriolo Introduction: Applications, Problems, Architectures practical information class schedule 2020/2021: 5 Oct - 18 Dec 2020, Wed 8:00-11:00, Fri 11:00-13:00, room B2 or Zoom 6 ECTS

  1. Autonomous and Mobile Robotics Prof. Giuseppe Oriolo Introduction: Applications, Problems, Architectures

  2. practical information • class schedule 2020/2021: 5 Oct - 18 Dec 2020, Wed 8:00-11:00, Fri 11:00-13:00, room B2 or Zoom • 6 ECTS credits, 60 hrs (55) • office hours: Thu 14:00-16:00 (by appointment only, room A211 or Zoom) • e-mail oriolo@diag.uniroma1.it • AMR website www.diag.uniroma1.it/~oriolo/amr/ • Google Group: AMR_GG Oriolo: Autonomous and Mobile Robotics - Introduction 2

  3. audience • students of the Master in Artificial Intelligence and Robotics (MARR) and of the Master in Control Engineering (MCER) teaching • mixed style: blackboard + companion slides vs. slides grading • Midterm Test (50%) + Final Project (50%) (for MT top performers ) • midterm test (50%) + final test (50%) (for those who pass MT) • conventional exam theses • Master Theses on the topics studied in this course are available at the DIAG Robotics Lab Oriolo: Autonomous and Mobile Robotics - Introduction 3

  4. objective • to present the basic planning/control methods for achieving mobility and autonomy in mobile robots • …in principle, everything mobile! Oriolo: Autonomous and Mobile Robotics - Introduction 4

  5. motivation • industrial fixed-base robots are fast and accurate in a limited, structured, known, static workspace • to be useful in the outside world, robots must be able to move freely in large, unstructured, uncertain, dynamic environments Oriolo: Autonomous and Mobile Robotics - Introduction 5

  6. applications of mobile robots structured environments unstructured environments (service robots) (field robots) • transportation • exploration (sea, space) • monitoring (sea, forests) (industry, logistics) • cleaning (homes and • rescue • demining large buildings) • customer assistance • agriculture • construction (museums, shops) • surveillance • transportation • entertainment • military :-( Oriolo: Autonomous and Mobile Robotics - Introduction 6

  7. gallery on wheels/1 iRobot Roomba (cleaning) Oriolo: Autonomous and Mobile Robotics - Introduction 7

  8. gallery on wheels/2 Yape (urban transportation) Oriolo: Autonomous and Mobile Robotics - Introduction 8

  9. gallery on wheels/3 KUKA omniMove (factory transportation) Oriolo: Autonomous and Mobile Robotics - Introduction 9

  10. gallery on tracks iRobot Verro (cleaning) Oriolo: Autonomous and Mobile Robotics - Introduction 10

  11. gallery on legs/1 Boston Dynamics BigDog (military transportation) Oriolo: Autonomous and Mobile Robotics - Introduction 11

  12. gallery on legs/2 Toyota humanoid (research) Oriolo: Autonomous and Mobile Robotics - Introduction 12

  13. gallery flying Airmatic RED Amazon Prime Air (rescue&firefighting) (delivery) Oriolo: Autonomous and Mobile Robotics - Introduction 13

  14. gallery underwater Seagoo ROV (inspection) Oriolo: Autonomous and Mobile Robotics - Introduction 14

  15. gallery at DIAG Robotics Lab AIBOs Kheperas tractor-trailer NAOs prototype MagellanPro Hummingbird, Pelican Oriolo: Autonomous and Mobile Robotics - Introduction 15

  16. gallery expected soon at DIAG Robotics Lab TIAGo Duckietown Oriolo: Autonomous and Mobile Robotics - Introduction 16

  17. the key problems of mobile robotics 1. where am I? 2. how am I supposed to get to the goal? 3. how do I actually move? (Durrant-Whyte 1991; slightly revised) 1: localization (with or without initial guess, map,...) 2: path/trajectory/motion planning (respectively: only geometric motion, with time, among obstacles) 3: motion control (feedback techniques) Oriolo: Autonomous and Mobile Robotics - Introduction 17

  18. single-body fixed-base wheeled manipulators mobile robots easy 1. localization difficult (thanks to fixed-base and joint encoders) difficult 2a. path/trajectory easy (not all paths are feasible due planning (all paths are feasible) to nonholonomy) difficult more difficult 2b. motion planning (many dof’s) (as above) more difficult difficult 3. motion control (no smooth stabilizer (due to inertial couplings) due to nonholonomy) Oriolo: Autonomous and Mobile Robotics - Introduction 18

  19. ⇒ multi-body mobile robots are a real challenge! articulated vehicles mobile manipulators humanoids Oriolo: Autonomous and Mobile Robotics - Introduction 19

  20. autonomy can be defined as (or better, requires) the ability to solve problems 1, 2, 3 in unstructured environments and uncertain, possibly dynamic operating conditions DARPA Grand Challenge 2005 Oriolo: Autonomous and Mobile Robotics - Introduction 20

  21. that was 2005, this is one decade later DARPA Robotics Challenge 2015 real autonomy (especially if you want to do more than drive) is not around the corner: still a long way to go Oriolo: Autonomous and Mobile Robotics - Introduction 21

  22. a basic underlying functionality: perception • sensing + interpretation • proprioceptive: perception of the robot itself (position, orientation, velocity, etc, in a certain frame) • exteroceptive: perception of the environment surrounding the robot (obstacles, robots, people, etc) • essential in unstructured environments • performed via a variety of sensors: - encoders, INS, GPS (proprioception) - rangefinders, cameras, tactile sensors (exteroception) Oriolo: Autonomous and Mobile Robotics - Introduction 22

  23. deliberative architecture mission objectives robot pose (global map) localization planning (SLAM) local displacement path or local map trajectory “think, then act” sensor measures perception control actuator commands physical robot environment Oriolo: Autonomous and Mobile Robotics - Introduction 23

  24. other architectures • reactive architecture (“don’t think, (re)act”) • hybrid architecture (“think and act concurrently”) • behavior-based architecture (“think the way you act”), e.g. taken from “Introduction to Autonomous Mobile Robots” Oriolo: Autonomous and Mobile Robotics - Introduction 24

  25. course contents • modeling (essential: model-based approach!) • planning • control • localization …mainly (but not only) for wheeled mobile robots (WMRs) Oriolo: Autonomous and Mobile Robotics - Introduction 25

  26. the focus of this course is on methodologies that can be applied on any robotic platform rather than on specific hw/sw realizations robotics is not about building robots! Oriolo: Autonomous and Mobile Robotics - Introduction 26

  27. syllabus (preliminary) 1. Introduction: Applications, Problems, Architectures 2. Configuration space 3. Wheeled Mobile Robots 1: Mechanics of mobile robots 4. Wheeled Mobile Robots 2: Kinematic models of mobile robots 5. Wheeled Mobile Robots 3: Path/trajectory planning 6. Wheeled Mobile Robots 4: Trajectory tracking 7. Wheeled Mobile Robots 5: Regulation 8. Perception: Sensors for mobile robots 9. Localization 1: Odometric localization 10. Localization 2: Kalman Filter 11. Localization 3: Landmark-based and SLAM 12. Motion Planning 1: Retraction and cell decomposition 13. Motion Planning 2: Probabilistic planning 14. Motion Planning 3: Artificial potential fields 15. Humanoid Robots 1: Introduction 16. Humanoid Robots 2: Dynamic modeling 17. Humanoid Robots 3: Gait generation 18. Presentations by companies: Magneti Marelli, YAPE, … 19. Case study 1, 2, 3: to be defined Oriolo: Autonomous and Mobile Robotics - Introduction 27

  28. textbooks and other material • Siciliano, Sciavicco, Villani, Oriolo, Robotics: Modelling, Planning and Control , 3rd Edition, Springer, 2010 (also available in Italian by McGraw-Hill) [chapters 11 and 12 cover lectures 2-9 and 11-14] • Choset, Lynch, Hutchinson, Kantor, Burgard, Kavraki, Thrun, Principles of Robot Motion: Theory, Algorithms and Implementations, MIT Press, 2005 [a useful reference for the whole course; chapter 8 covers lectures 10-11] • Siciliano, Khatib, Eds., Handbook of Robotics , 2nd Edition, Springer, 2016 [a useful reference for the whole course] additional material (slides, papers, code etc) available on the AMR website (will be updated during the course) Oriolo: Autonomous and Mobile Robotics - Introduction 28

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