Emilio Frazzoli: Catalogue data in Autumn Semester 2017 |
Name | Prof. Dr. Emilio Frazzoli |
Field | Dynamic Systems and Control |
Address | Dyn. Systeme u. Regelungstechnik ETH Zürich, ML K 33 Sonneggstrasse 3 8092 Zürich SWITZERLAND |
Telephone | +41 44 632 79 28 |
emilio.frazzoli@idsc.mavt.ethz.ch | |
Department | Mechanical and Process Engineering |
Relationship | Full Professor |
Number | Title | ECTS | Hours | Lecturers | |
---|---|---|---|---|---|
151-0323-00L | Autonomous Mobility on Demand: From Car to Fleet Number of participants limited to 20. | 4 credits | 4G | E. Frazzoli, A. Censi | |
Abstract | Autonomous Mobility on Demand systems based on self-driving cars will make a huge impact in the world. This class describes the basics of modeling, perception, learning, planning, and control for fleets of self-driving cars. We focus particular regard to the problem of integration and co-design of components and behaviors. The course has a heavy experimental component. | ||||
Objective | The students will learn how to create all parts of an architecture for a complex multi-robot system performing a nontrivial task (an autonomous taxi service). | ||||
Content | Part 1: Single car functionalities (perception-planning-control loop, based on vision data); Part 2: Multiple cars (formal methods for safety, platooning, coordination, fleet-level policy optimization) | ||||
Lecture notes | Course notes will be provided for free in an electronic form. | ||||
Literature | Course notes will be provided for free in an electronic form. These are some books that can be used to provide background information or consulted as references: (1) Siegwart, Nourbakhsh, Scaramuzza - Introduction to autonomous mobile robots; (2) Norvig, Russell - Artificial Intelligent, a modern approach. (3) Peter Corke - Robotics Vision and Control (4) Oussama Khatib, Bruno Siciliano - Handbook of Robotics | ||||
Prerequisites / Notice | Students should have taken a basic course in probability. Students should be familiar with basic programming and Linux use. | ||||
151-0591-00L | Control Systems I | 4 credits | 2V + 2U | E. Frazzoli | |
Abstract | Analysis and synthesis of linear systems with one input and one output signal (SISO); transition matrix; stability; controllability; observability; Laplace transform; transfer functions; transient and steady state responses. PID control; dynamic compensators; Nyquist theorem. | ||||
Objective | Identify the role and importance of control systems in everyday life. Model and linearize single-input single-output dynamical systems. Interpret stability, observability and controllability of linear systems. Describe and associate building blocks of linear systems in time and frequency domain with equations and graphical representations (Bode plot, Nyquist plot, Time domain). Design standard feedback controllers to stabilize and steer linearized systems. Explain differences between expected and actual control results. | ||||
Content | Modeling and linearization of dynamic systems with single input and output signals. State-space description. Analysis (stability, reachability, observability, etc.) of open-loop systems. Laplace transformation, systems analysis in the frequency domain. Transfer functions and analysis of the influence of its poles and zeros on the system's dynamic behavior. Frequency response. Analysis of closed-loop systems using the Nyquist criterion. Formulation of performance constraints. Specification of closed-loop system behavior. Synthesis of elementary closed-loop control systems (PID, lead/lag compensation, loop shaping). | ||||
Prerequisites / Notice | Basic knowledge of (complex) analysis and linear algebra |