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 |
tanij@ethz.ch | |
Department | Mechanical and Process Engineering |
Relationship | Lecturer |
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 | J. Tani, 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 | This 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. | ||||
151-0591-00L | Control Systems I | 4 credits | 2V + 2U | J. Tani | |
Abstract | Analysis 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. | ||||
Objective | Identify 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. | ||||
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). Discrete time state space representation and stability analysis. | ||||
Prerequisites / Notice | Basic knowledge of (complex) analysis and linear algebra. |