Jacopo Tani: Catalogue data in Autumn Semester 2018

Name Dr. Jacopo Tani
Address
Dyn. Systeme u. Regelungstechnik
ETH Zürich, ML K 32.3
Sonneggstrasse 3
8092 Zürich
SWITZERLAND
Telephone+41 44 632 01 29
E-mailtanij@ethz.ch
DepartmentMechanical and Process Engineering
RelationshipLecturer

NumberTitleECTSHoursLecturers
151-0323-00LAutonomous Mobility on Demand: From Car to Fleet Information Restricted registration - show details
Number of participants limited to 20.
4 credits4GJ. Tani, A. Censi
AbstractAutonomous 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.
ObjectiveThe 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).
ContentPart 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 notesCourse notes will be provided for free in an electronic form.
LiteratureCourse 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 / NoticeThis course is also known as Duckietown. Students should have taken a basic course in probability, and should be familiar with basic programming and Linux use.
151-0591-00LControl Systems I4 credits2V + 2UJ. Tani
AbstractAnalysis and controller synthesis for linear time invariant 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.
ObjectiveIdentify the role and importance of control systems in everyday life. Obtain models of single-input single-output (SISO) linear time invariant (LTI) dynamical systems. Linearization of nonlinear models. 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, root locus). Design feedback controllers to meet stability and performance requirements for SISO LTI systems. Explain differences between expected and actual control results. Notions of robustness and other nuisances such as discrete time implementation.
ContentModeling 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). Discrete time state space representation and stability analysis.
Prerequisites / NoticeBasic knowledge of (complex) analysis and linear algebra.