Ense3 - rubrique formation - cursus

Mobile Robotics (M2-MARS / ASI) - WEUMROB0

  • Volumes horaires

    • CM 26.0
    • Projet -
    • TD -
    • Stage -
    • TP 34.0
    • DS -

    Crédits ECTS

    Crédits ECTS 5.0


Robots are rapidly evolving from physically bounded to their work-cells, to increasingly complex machines capable of performing challenging tasks. The objective of this course is to provide the basic concepts and algorithms required to develop mobile robots that can act and evolve autonomously in complex environments.




The course will be divided into 5 main parts:

1.Introduction, context, issues, markets, use, platforms, manufacturers (CM 2 hrs)
2.Modeling (mobile and Aerial robots)(CM 4 hrs ; BE 2 hrs)
a.Basis of rigid body representation in the 3D space
b.The different types of robots and drones
c.A first basic modeling
d.Advanced elements for the case of quadrotors
e.Computer session on the modelling of drones (BE 2hrs)
3.Perception for robots (CM 6 hrs)
a.Inertial and magnetic measurements (magneto, gyro, accelero), inertial/attitude units, barometer and encoder/odometer (CM 4hrs)
b.Depth sensors (sonar, infrared, lidar, ...) and vision (optical flow, mono, stereo) (CM 2hrs)
4.State estimation – localization – mapping (CM 10 hrs ; TP 4hrs)
a.Multi-sensor fusion for inertial/magnetic navigation via static and dynamic state estimation (Least squares algorithms, gradient algorithms, observers, Kalman filter, complementary filter, etc.) (CM 6 hrs)
b.Lab on attitude estimation (for example) with Matlab (simulated or real data) (BE 4 hrs)
c.Introduction to the localization problem and mapping (discrete Bayesian filter, particle filters, scan matching) (CM 2 hrs)
d.Detection of motion, detection of moving objects, tracking of moving objects (Olivier CM 2 hrs)
5.Control for robots
a.Trim control (CM 2hr)
b.Hovering flight (CM 2hr)
c.Trajectory generation and control (CM 2hr)
d.Multiple UAVs control (CM 2hr)
e.Computer session on the control of drones (Nicolas BE 8 hrs)
f.PID controller + Implementation and tests on robair (Olivier TP 4hrs)
6.ROS (TP 12hrs)
a.Introduction to ros
b.Using ROS with a mobile robot (laser data acquisition + control of mobile robot)
c.Detection/tracking of moving objects with a laser scanner
d.Localization – mapping with a mobile robot


control, programming language

Contrôle des connaissances

Session normale / First session
Evaluation non rattrapable (EN) / EN assessment : moyenne des notes de TP/BE ROS, estimation et drone / Average of lab reports about ROS, estimation and drone
Evaluation rattrapable (ER) / ER assessment : examen final / Final exam

Session de rattrapage / Second session
ER : la note obtenue en session 2 remplace la note ER session 1 / New exam to replace ER assessment
EN : évaluation non rattrapable / No re-take for the EN assessment

60% EN + 40% ER

L'examen existe uniquement en anglais FR


Le cours est programmé dans ces filières :

  • Cursus ingénieur - Master inter MARS - Semestre 9 (ce cours est donné uniquement en anglais EN)
  • Cursus ingénieur - Ingénieur ASI - Semestre 9 (ce cours est donné uniquement en anglais EN)
cf. l'emploi du temps 2023/2024

Informations complémentaires

Code de l'enseignement : WEUMROB0
Langue(s) d'enseignement : FR

Vous pouvez retrouver ce cours dans la liste de tous les cours.