Syllabus

Mobile Robotics: Introduction to mobile robots, Nonholonomic constraints, Kinematic models. Unicycle, Bicycle, Chained form, Dynamic model of mobile robots. Trajectory Planning: Path and Timing laws, Flat outputs, Path planning, Trajectory planning, Optimal trajectories. Motion Control: Trajectory tracking, Cartesian regulation, Posture regulation, Odometric localization. Obstacle avoidance and Motion planning: The canonical problem, Configuration space, Different types of obstacles, planning via retraction, planning via cell decomposition, Probabilistic planning, Planning via artificial potentials, Motion planning for manipulators. Visual Servoing: Vision for control, Different types of configuration, Image processing, Pose estimation, Interaction matrix, Stereo vision, Camera calibration Visual servoing problem: Position based visual servoing, Image based visual servoing, Hybrid visual servoing.