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  • 7:17 PM, Monday, 18 Oct 2021

Course Postgraduate
Semester Electives
Subject Code AVC862
Subject Title Mobile Robotics and Visual Servoing


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, Cartisian 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

Text Books

Same as Reference

  1. B.Siciliano, L. Sciavicco, L. Villani, G.Oriolo, Robotics‐ Modelling, Planning and Control, Springer, 2009.
  2. M.W.Spong, S.Hutchinson and M. Vidyasagar, Robot Modelling and Control, 2006.
  3. B. Siciliano, O. Khatib (Eds), Springer Handbook of Robotics, Springer, 2008.