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Course: 2019/2020

(17840)

Master in Robotics and Automatization (Plan: 296 - Estudio: 77)

EPI

Coordinating teacher: GARRIDO BULLON, LUIS SANTIAGO

Department assigned to the subject: Systems Engineering and Automation Department

Type: Compulsory

ECTS Credits: 3.0 ECTS

Course: 1º

Semester: 1º

Requirements (Subjects that are assumed to be known)

IndusIndustrial Robotics. Any signature related with computer programming.

Objectives

To analyse and to understand the problematic ones associated with the specification of the movement associated with the programming of a task or application for any class of robot, already be industrial or of service. To check and to familiarize itself with the classic technologies of planning, centring on the planning before static environments, and the classic algorithms. Provide the student of the sufficient knowledge and interest to be able to approach this type of problems.

Description of contents: programme

1. Review of the programming task and movements. 2. Models of robots and environment 3. Classic aproaches of path-planning: 3.1. Configuration space 3.2. Potentials Fields 3.3. Roadmaps 3.4. Celd Decomposition and probabilistical methods 3.5. Modification of the dynamic control 4. Case studies 5. Specialized seminars

Learning activities and methodology

After an lecture of problematic and classic technologies, a work of analysis and implementation of a classic technology is proposed to the student. The evaluation is based on of the exhibition and memory presented.

Assessment System

  Class presentation of workout and written reports (oral presentation, written report and programming exercise). Review of the classmates work.

    % end-of-term-examination 40
    % of continuous assessment (assigments, laboratory, practicals...) 60

% end-of-term-examination 40
% of continuous assessment (assigments, laboratory, practicals...) 60

Basic Bibliography

Hean-Laude Latombe . Robot Motion Planning. Kluwer Academic Publishers. 1991
Howie M. Choset ET AL.. Principles of Robot Motion: Theory, Algorithms, and Implementation.. MIT Press.. 2005
Steven M. LaValle. . Planning algorithms. http://planning.cs.uiuc.edu/. 2006

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