Checking date: 19/07/2021


Course: 2022/2023

(17840)
Study: Master in Robotics and Automation (77)
EPI


Coordinating teacher: GONZALEZ VICTORES, JUAN CARLOS

Department assigned to the subject: Department of Systems Engineering and Automation

Type: Compulsory
ECTS Credits: 3.0 ECTS

Course:
Semester:




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.
Skills and learning outcomes
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
  • % end-of-term-examination 40
  • % of continuous assessment (assigments, laboratory, practicals...) 60
Calendar of Continuous assessment
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.