MSE Master of Science in Engineering

The Swiss engineering master's degree

Ogni modulo equivale a 3 crediti ECTS. È possibile scegliere un totale di 10 moduli/30 ECTS nelle seguenti categorie: 

  • 12-15 crediti ECTS in moduli tecnico-scientifici (TSM)
    I moduli TSM trasmettono competenze tecniche specifiche del profilo e si integrano ai moduli di approfondimento decentralizzati.
  • 9-12 crediti ECTS in basi teoriche ampliate (FTP)
    I moduli FTP trattano principalmente basi teoriche come la matematica, la fisica, la teoria dell’informazione, la chimica ecc. I moduli ampliano la competenza scientifica dello studente e contribuiscono a creare un importante sinergia tra i concetti astratti e l’applicazione fondamentale per l’innovazione 
  • 6-9 crediti ECTS in moduli di contesto (CM)
    I moduli CM trasmettono competenze supplementari in settori quali gestione delle tecnologie, economia aziendale, comunicazione, gestione dei progetti, diritto dei brevetti, diritto contrattuale ecc.

La descrizione del modulo (scarica il pdf)riporta le informazioni linguistiche per ogni modulo, suddivise nelle seguenti categorie:

  • Insegnamento
  • Documentazione
  • Esame
Autonomous mobile robot systems (TSM_AutMobRoS)

Mobile robots are complex mechatronic systems often interacting autonomously with their environment. The course combines theoretical foundations for coordinate transformations, sensor fusion, planning and control with examples in ROS. Tests of these complex systems can be conducted in simulated environments to speed up development and minimize risk of damage. Data from live tests can be recorded for later reuse and analysis as a foundation for further development. 

 

Requisiti

  • Linear algebra
  • General affinity to mathematics
  • Basic feedback control systems
  • Basic programming skills

Obiettivi di apprendimento

This course aims at giving students a deep insight into and theoretical understanding of the inner workings of autonomous mobile systems reinforced by hands-on experience of mobile robots or simulations thereof. At the end of this course students will be able to build mobile robots with autonomous behaviour.

 

Categoria modulo

  • Mathematical foundations (short primer)

    • Coordinate transformations, quaternions

  • Mobile robot platforms in different environments: air, land, sea

    • Wheeled robots, drones, submarines, …

    • Kinematics

    • Typical sensors

    • Control

    • Real-time systems

  • Localization

    • Odometry

    • GPS

    • Sensor fusion

  • Mapping

    • SLAM

    • Closing the loop

  • Navigation

    • Planning

    • Obstacle avoidance

    • Trajectory follower

  • Advanced Topics

    • Real-time systems & Robot operating system frameworks

    • Multi-robot systems

    • Modelling and simplification (Simulation & Design)

    • Dynamics of mobile robot platforms

Metodologie di insegnamento e apprendimento

Ex-cathedra teaching
Case studies
The theory learned in class is applied in exercises

Bibliografia

Siegwart, R. et al. "Introduction to Autonomous Mobile Robots", 2011, 2nd edition, MIT Press.

ISBN 978-0262015356

Scarica il descrittivo completo del modulo

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