The goal of this lecture is to give the participant a good understanding of modeling different mobile platforms. Once a model is derived in view of its kinematics and dynamics, different control schemes can be applied. Although basic control schemes are discussed in the lecture, the focus of this lecture is not on these control schemes but on the modeling. We will cover mobile robots platforms from legged, wheeled, fix-wing, and rotary wing. At the end of the lecture, the student will be able to define the model of such platform and a corresponding simple controller. More in-depth theory on complex control schemes are provided in the lecture "Non-Linear Systems".

Apart of the material presented in the lecture, different books will be suggested along the course. Also, it is strongly suggested to follow the companying practical course to this lecture. Both are strongly linked such that the learned theory can immediately put into practice.

Coordinate transformations (including rotation matrices, quaternions, Euler angles, etc)Kinematics and dynamics of robot armsModeling and control of legged robotsWheeled robots including wheel contstraints and simple control schemePath planning methods for ground robots Dynamics, modeling, and control of fix-wing airplanesDynamics, modeling, and control of rotary-wing helicopters

AnalysisLinear AlgebraControl theory, system theoryFundamentals of robotics

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There will be a final written exam at the end of the lecture.

All contents taught during the lecture is part of the exam.

The scored points in the exam reflect the grades from 1-5. With 50% or more of the achievable points, the exam is passed.