Robotics 2016/2017

General information

The course on Robotics will be held by Prof. Tullio Facchinetti.

I recommend to carefully read the information reported in this page.

Weekly schedule

To request a meeting, and for any other issue, please send me an email.

Since I held/hold many different courses, I kindly ask to specify in the email the following information: name, course name, identification number, and – possibly – the year when the course was attended.


Organization of the exam

The exam consists of a written test regarding the topics coered during the course. The duration of the test is 2 hours. The slides linked in this page contain all the material that is necessary for preparing the exam.

The exam also requires a mandatory practical part, which consists in the development of a program that implement a control algorithm for a simulated mobile robot.

The two parts of the exam are independent from each other; there are no precedence constraints and once a part has been passed, its validity does not expire.


The didactic material is based on the slides shown during lessons. Presentations will be made available during the course.

ATTENTION: since slight changes to the slides are possible, it is recommended to periodically check this site for updates. The date indicated for each presentation represents the latest update of the corresponding file.


Robot navigation

Finite State Machines

Real-time systems


The course also includes a short introduction to MEMS sensors. The presentations regarding the MEMS technology and the relevant compensation techniques of MEMS accelerometers and gyroscopes, can be provided upon request on a USB drive. Please send an email to Prof. Tullio Facchinetti for an appointment to obtain this material.

Practical project

The practical project requires to implement a path planning and navigation algorithm in C, Java or Python under a simulation environment based on the MORSE simulator. The simulation requires a mobile robot to move in a 2D environment to accomplish a given task.

In particular, the eduMorse framework is used for the project. The simulation environment runs under Linux (tested with XUbuntu). It must be a Debian-based distribution, since the installer provided by eduMorse makes use of the `apt` command. Its features, characteristics, install instructions and usage are described in a lecture by Daniele De Martini. Detailed information on project goals and constraints can be found here.

Some indications:

Additional information, tools and help for the practical project are provided by Daniele De Martini.

The Robotics Student competition Hall of Fame is now available.

Additional references

Suggested books

The following text books are helpful to expand the topics covered in the course.

  1. John Brignell, Neil White, “Intelligent Sensor System”, Institute of Physics Publishing, Bristol and Philadelphia, 1996. ISBN 0-7503-0389-1.
  2. Paulo Verissimo, Luis Rodriguez, “Distributed Systems for System Architects”, Kluwer Academis Publishers, 2000. ISBN 0-7923-7266-2.
  3. Giorgio C. Buttazzo, “Hard Real-time Computing System” Second Edition, Springer, 2005. ISBN 0-387-23137-4.
  4. Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki, Sebastian Thrun, “Principles of Robot Motion: Theory, Algorithms, and Implementations”, The MIT Press, Cambridge, Massachussets, 2005. ISN 0-262-03327-5.
  5. John R. Taylor, “An Introduction to Error Analysis: The Study of Uncertainties in Physical Measurements”, University Science Books, 1997.
  6. Edward A. Lee and Sanjit A. Seshia, Introduction to Embedded Systems, A Cyber-Physical Systems Approach, ISBN 978-0-557-70857-4, 2011.