academic year 2024/25

Academic Coordinator: Paolo Gidoni

Period: Second semester

Duration: 28 hours

Program: The course aims to introduce the study of controllability, focusing on characterizing which states can be reached by a controlled system. The treatment will build upon key tools from differential geometry (e.g., vector fields on smooth manifolds, Lie groups), which will be introduced in the first part of the course. Subsequently, fundamental controllability results will be presented (e.g., the Chow-Rashevskii theorem).

Considerable attention will be given to the analysis of concrete applications, particularly to nonholonomic systems and locomotion models (e.g., the controllability of wheeled vehicles and microswimmers).