This course will introduce basic concepts and techniques used within the field of autonomous mobile robotics. We analyze the fundamental challenges for autonomous intelligent systems when these move on wheels or legs and present the state of the art solutions.

Among other topics, we will discuss:

• Mobile robots kinematics,
• Sensors and perception,
• Robot localization and map building,
• Simultaneour Localization and Mapping (SLAM),
• Path planning and collision avoidance,
• Exploration of unknown terrain.

Lectures will privide theoretical background and real world examples. Lectures will be complemented with practical exercises in simulation for all the proposed topics and the students will be guided in developing the algorithms to control an autonomous robot.

The slides from the lectures will be available on the course website (http://chrome.ws.dei.polimi.it/index.php/Robotics) together with links to relevant papers and online resources.

The exam in composed of a written exam (for the 70% of the grade) and some "at home" work in the form of either a literature survey or the coding and evaluation of algorithms presented during the lectures (for the 30% of the grade).