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Mobile robotics

COURSE: Mobile robotics

Code: ФЕИТ01009

ECTS points: 6 ECTS

Number of classes per week: 3+0+0+3

Lecturer: Prof. Elizabeta Lazarevska, PhD

Subject of the course content: Introduction: historical development, classification, application and examples of mobile robots. Movement (locomotion) of mobile robots: robots with wheels and leg robots, actuators and driving configurations, mathematical models of kinematics and dynamics of mobile robots. Sensors for mobile robots: classification, visual and non-visual sensors. Navigation systems for mobile robots: Classification of navigation systems, determination of velocity, position and orientation of mobile robots based on sensor information,  fusion of information from different sensors and application of Kalman filters. Guidance and navigation systems of mobile robots: structure and algorithms of mobile robots control and navigation systems,  algorithms for avoiding obstacles, search an unknown space, generating a map of the area and the trajectory planning of mobile robots. Mobile robots - drones and underwater mobile robots. Multi-robot systems.


  1. Roland Siegwart, “Introduction to Autonomous Mobile Robots”, MIT Press, 2004
  2. Robin R. Murphy, “Introduction to AI Robotics”, MIT Press, 2000
  3. Gerald Cook, “Mobile Robots-Navigation, Control and Remote Sensing”, John Wiley & Sons, Inc.,, 2011
  4. Velagić Jasmin, „Mobilna robotika”, Štamparija Fojnica, 2012
  5. Farbod Fahimi,  ”Autonomous Robots- Modeling, Path Planning, and Contro”, Springer , 2009
  6. Kenzo Nonami, Farid Kendoul, Satoshi Suzuki, Wei Wang, Daisuke Nakazawa, “Autonomous Flying Robots”, Springer, 2010