Programme:
Robot programming requires a deep knowledge of the programming techniques and the programming language chosen for software development. In addition, the software for robotic applications is often built by means of specialized development tools. The goal of the course is to discuss a case study, in order to provide a systematic approach to robot programming. Specifically, robot programming is addressed using C++ as basic programming language, ROS and OpenRDK as development frameworks. The the target robotic platforms are wheeled robots and the NAO humanoid robot. Topics:
1. Robot programming in ROS and Open-RDK
2. Robotic Platforms and simulation environments
3. Case studies in Perception, Navigation, Mapping, Localization, Action planning, Plan execution, Human Robot Interaction, Learning, Multi Robots.

The course will rely on the technical support of the members of the RoCoCo lab. If you wish to get started earlier you can start looking at the RoCoCo wiki and start playing with the software tools.

Classes start Tuesday September 27th, Tuesdays 14:00-15:30, Room A3

Classes are moved since October 4th, Tuesdays 8:30-11:45, Room A3

Plan of the Lectures

• Robotics Software
• ROS: Robot Operating System ROS basics; (see also A more detailed intro, please do not distribute)
• ROS: connecting t a robot and to simulators Robot set up with ROS , Simulation with Player/Stage ;
• Human Robot Interaction: Human Robot Interaction ROS support to HRI
• Autonomous localization and navigation: ROS support
• OpenRDK: A framework for developing robotic software Tutorial; Tutorial-advanced .
• Motion Planning: part 1 ;
• Humanoid robot NAO: Perception and Motion platform;
• Humanoid robot NAO: deliberation and Petri Net Plans PNP , Implementation

Homeworks (updated after each class)

Exam
The exam requires:

• homeworks: the student may choose to do a "ROS" homework or an "OpenRDK" homework. In the "ROS" case he/she must complete either (4a) Safe teleoperation ROS or (4b) Navigation in ROS. In the "OpenRDK" case the student must complete either Homework 5Advanced, or Homework 6, or Homework 7.
• projects: project will be assigned in the class of November 22nd (unless already defined)