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.

Same as Reference

1. Robotics‐ Modelling, Planning and Control, B.Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Springer, 2009.

2. Vision and Control, Peter Corke, Robotics, Springer, 2016.

3. Robot Modelling and Control, M.W.Spong, S.Hutchinson and M. Vidyasagar John Wiley & Sons Inc., 2006.