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Course: 2024/2025

Robotics

(18655)

Master in Computer Engineering (Plan: 449 - Estudio: 228)

EPI

Coordinating teacher: CASTILLO MONTOYA, JOSE CARLOS

Department assigned to the subject: Systems Engineering and Automation Department

Type: Electives

ECTS Credits: 6.0 ECTS

Course: 2º

Semester: 1º

Requirements (Subjects that are assumed to be known)

C++ programming skills. C++ will be used in the lab sessions.

Skills and learning outcomes

Link to document

Description of contents: programme

1. Introduction to robotics 1.1. History and definitions 1.2. Classification and types of robots 1.3. Fundamental elements of robots 1.4. Perception and actuation in robotics 2. Mass data processing in robotics 2.1. Artificial vision. Applications to robotics 2.2. Localisation systems: odometry 2.3. Environment modelling: sonar, depth cameras, 2D Laser, 3D Lidar 2.4. Multi-sensor fusion 3. Real-time control of robots 3.1. Intelligent navigation. 3.2. Dexterous manipulation 3.3. Planning and reactive control. 3.4. Hyper-degree-of-freedom systems (humanoids, exoskeletons) 4. Robotic learning systems 4.1. Learning by demonstration and deduction 4.2. Learning algorithms in robotics (neural networks, fuzzy, SVM) 4.3. Deep learning in robotics 4.4. Imagination in robotics 5. Applications in robotics 5.1. Outdoor applications (factories, surveillance, inspection) 5.2. Indoor applications (homes, hospitals, leisure areas) 5.3. Human-robot interaction (verbal, gestural, emotional) 5.3. Collaborative robots 5.5. Future applications 6. Hardware and software for mobile robots 6.1 Constructive elements of a mobile robot 6.2 Mobile robot control software: ROS

Learning activities and methodology

TRAINING ACTIVITIES AF1 Theoretical class [23.33 hours with 100% attendance, 0.78 ECTS] AF2 Practical classes [10 hours with 100% attendance, 0.33 ECTS]. AF3 Theoretical and practical classes [10 hours with 100% attendance, 0,33 ECTS]. AF4 Laboratory practice [3 hours with 100% attendance, 0,1 ECTS] AF5 Tutorials [4 hours with 100% attendance, 0,13 ECTS] AF6 Group work [40 hours with 0% attendance, 1,33 ECTS] AF7 Individual work of the student [88 hours with 0% attendance, 2,93 ECTS] AF8 Partial and final exams [1,67 hours with 100% attendance, 0,06 ECTS]. TEACHING METHODOLOGIES MD1 In-class lectures by the lecturer with the support of computer and audiovisual media, in which the main concepts of the subject are developed, and the bibliography is provided to complement the students' learning. MD3 Resolution of practical cases, problems, etc. posed by the lecturer individually or in groups. MD4 Presentation and discussion in class, under the moderation of the lecturer, of topics related to the content of the subject, as well as of practical cases. MD5 Preparation of individual or group work and reports.

Assessment System

% end-of-term-examination 0
% of continuous assessment (assigments, laboratory, practicals...) 100

Calendar of Continuous assessment

SE1 Class participation. 10%
SE2 Individual or group work carried out during the course.  90%.

- Continuous assessment: 100%.
        o Partial 1 (30%, if passed the content will be removed for the final exam).
         o Midterm 2 (30%, if passed the content is removed for the final exam)   
         o Final practical project: 30%.
         o Class participation: 10%.

- Final exam
         o 0%: if the student follows the continuous assessment, this exam will be taken only with the part(s) not passed in the midterm(s).
         o 100%: if the student has not followed the continuous assessment, he/she will sit the final exam with all the content and the final mark will be worth 60% of the mark obtained.

- Extraordinary exam: 100% with all the content.

Basic Bibliography

Barrientos, A. ., & Balaguer Bernaldo de Quirós, C.. Fundamentos de robótica (2ª ed.). McGraw-Hill Interamericana. 2007
Craig, J. J. . Robótica (3ª ed.). Pearson Educación. 2006
Mataric, M. J.. The robotics primer.. The MIT Press.. 2007
Mordechai Ben-Ari, Francesco Mondada. Elements of Robotics. Springer Nature. 2017
Roland Siegwart, Illah Reza Nourbakhsh and Davide Scaramuzza.. Introduction to autonomous mobile robots.. MIT Press.. 2011
Siciliano, B., & Khatib, O.. Springer Handbook of Robotics (2nd ed. 2016.). Springer. 2016

Electronic Resources *

· Web de ROS : https://www.ros.org
· Documentación de Webots : https://cyberbotics.com/doc/guide/index
· A gentle introduction to ROS : http:// https://cse.sc.edu/~jokane/agitr/agitr-letter.pdf

Additional Bibliography

Kajita, Shuuji, Hirukawa, Hirohisa, Harada, Kensuke, & Yokoi, Kazuhito.. Introduction to Humanoid Robotics (2014th ed., Vol. 101). Springer Berlin Heidelberg. 2014
Mihelj, et al.. Robotics (2nd ed. 2019.). Springer. 2019
Roland Siegwart, Illah Reza Nourbakhsh and Davide Scaramuzza. Introduction to autonomous mobile robots. MIT Press.. 2011

Electronic Resources *

· ROS by examples v2 Índigo : http://file.ncnynl.com/ros/ros_by_example_v2_indigo.pdf

(*) Access to some electronic resources may be restricted to members of the university community and require validation through Campus Global. If you try to connect from outside of the University you will need to set up a VPN

The course syllabus may change due academic events or other reasons.