-According to the different regulations applicable to university teaching, the gender perspective must be incorporated into this subject.

-Work will be done to identify and modify sexist prejudices and attitudes and influence the environment to modify them and promote values of respect and equality.

-Situations of gender discrimination should be detected and actions and measures should be proposed to correct them.

To help in achieving a sustainable environment and to get the objective of number 5 action of the "Green Campus Action Plan" (Healthy and environmentaly and socially sustainable research and teaching):

The assignments to be done in this course:

- Will be required in digital format.

- Will be delivered using Moodle, with no need to print them.

In case it is necessary to print them:

- Plastics won´t be used.

- Two side printing will be used.

- Recycled paper will be used.

- Printing drafts will be avoided.

A sustainable use of the resources should be done, together with the prevention of negative impacts on the environment. 

Resultados de aprendizaxe	Competencias do título
Capacity for applying mathematical and ICT methods and tools to define, design, operate and maintain advanced marine robotic systems and for understanding and developing the needed algorithms and methods.		BM1 BM2 BM3 BM4 BM5 BM6 BM7 BM10 BM12	CM2 CM3 CM4 CM6 CM7
Understanding the difference between autonomous and non-autonomous operation in robotics, and how it fits into the Artificial Intelligence field	AM4	BM3 BM5 BM7 BM12	CM4
Acquiring the knowledge about sensors and actuators relevant in marine vehicles to provide them with autonomous capabilities	AM4	BM1 BM3 BM5 BM7 BM12	CM4 CM6 CM7
Understanding the fundamentals of autonomous robotic control, and how classical techniques are very important to achieve a proper response. Being able to apply these concepts in navigation tasks	AM4	BM1 BM2 BM3 BM5 BM7 BM12	CM3 CM4 CM6 CM7
Capacity for using a marine vehicle simulator and programming it, including all the previous knowledge about sensors, actuators and autonomous/classical control. In addition, students must learn how to transfer the simulated control to the real platform	AM4	BM2 BM3 BM5 BM6 BM7 BM8 BM10 BM12	CM3 CM6 CM7

Temas	Subtemas
Topic 1. Introduction to autonomous vehicles	- Artificial Intelligence - Autonomous vehicles - Autonomous marine vehicles - Regulatory issues
Topic 2. Sensors and actuators in marine vehicles	- Sensors: -- Sound based (Sonar, DVL, range finders...) -- Vision and laser based (Cameras, LIDAR...) -- Inertial Measurement Units (IMU) -- GNSS and alternative positioning systems - Actuators: -- Thrusters and alternative propulsion methods -- Arms and grippers
Topic 3. Autonomous control	- Open loop control - Closed loop control - PID - Intelligent architectures -- Reactive -- Deliberative -- Hybrid
Topic 4. Autonomous navigation	- Localization - Mapping - Path planning
Topic 5. Programming underwater vehicles	- Gazebo simulation model - Programming framework - Real underwater vehicle

Metodoloxías / probas	Competencias	Horas presenciais	Horas non presenciais / traballo autónomo	Horas totais
Sesión maxistral	B2 B4 B6 C4 C6	15	3	18
Análise de fontes documentais	A4 B2 B4 B5 B13 C2 C7	3	9	12
Seminario	B3 B6 B8 C3 C6	9	9	18
Traballos tutelados	A4 B3 B4 B5 B6 B7 B8 B9 B11 B13 C2 C3 C7	18	72	90
Proba mixta	A4 B4 B5 B6 B11 B13 C2	2	8	10

Atención personalizada		2	0	2

*Os datos que aparecen na táboa de planificación son de carácter orientativo, considerando a heteroxeneidade do alumnado

Metodoloxías	Descrición
Sesión maxistral	Masterclass where teachers explain the theoretical concepts of the topics, and students can ask questions.
Análise de fontes documentais	Methodological technique that involves the use of audiovisual and/or bibliographic documents relevant to the subject matter with activities specifically designed for their analysis. In this case, it will be used in a context of "flipped classroom" in which the theoretical concepts will be reviewed by the students independently prior to the lecture session, in which an activity will be carried out to assess their understanding.
Seminario	Workshop carried out at the informatics lab to train students in the tools required to solve de challenge: Python libraries, ROS, Gazebo.
Traballos tutelados	Autonomous work where students must solve some challenge involving programming an autonomous marine vehicle to solve a task. There can be one of incremental complexity or more than one with independent objectives. In this methodology, students will be organised in groups, so they will have to collaborate to achieve the goal.
Proba mixta	Written or oral examination where students will show their understanding of the theoretical concepts of the subject.

Metodoloxías	Competencias	Descrición	Cualificación
Proba mixta	A4 B4 B5 B6 B11 B13 C2	Students will have to show their knowledge and understanding of the theoretical concepts of the subject by means of a written or oral activity	20
Traballos tutelados	A4 B3 B4 B5 B6 B7 B8 B9 B11 B13 C2 C3 C7	One or more incremental projects will be proposed throughout the course focused on solving realistic problems with autonomous marine problems using real and simulated robots. These tasks will be developed autonomously by the student outside the classroom and must be defended in front of the teachers.	70
Análise de fontes documentais	A4 B2 B4 B5 B13 C2 C7	Part of the lectures will be used to evaluate the understanding of the documentary sources, which will be provided by the teachers prior to the class for consultation and understanding. These evaluations will be carried out by means of group work, small reports, questionnaires, or other methodologies that allow an objective assessment of the degree of analysis carried out.	10

Observacións avaliación
In order to obtain a pass in this subject, a minimum mark of 50 must be obtained in all the above methodologies, with a minimum of 35 in the Tutored Work and 15 in the sum of the Subjective Test and Document Analysis. If the student does not pass the subject in the ordinary exam, he/she will have to repeat the necessary activities of the methodology/s that were not passed in the extraordinary exam. General EMJMD Sustainable Ship and Shipping SEAS 4.0 evaluation rules: - Students will have only two oportunities to pass a course. If failing to do so, they may be forced to leave the degree. - No part time or lecture attendance exemption are allowed in this degree. In the case of plagiarism in internships or teaching assignments, article 11, section 4 b) of the UDC Student Disciplinary Regulations will be taken into account: b) Failure grade in the exam session in which the offence is committed and with respect to the subject in which it is committed: the student will be graded with a "fail" (numerical grade 0) in the corresponding exam session of the academic year, whether the offence is committed on the first or second occasion. To this end, the student's grade will be modified at the first opportunity, if necessary.

Bibliografía básica	Geoff Roberts and Robert Sutton (2006). Advances in unmanned marine vehicles. Institution of Engineering and Technology Thor I. Fossen (2011). Handbook of Marine Craft Hydrodynamics and Motion Control. John Wiley & Sons Dronekit (2015). https://dronekit-python.readthedocs.io/en/latest/. Robin R. Murphy (2000). Introduction to AI Robotics. A Bradford Book

Bibliografía complementaria	Joseph, Lentin (2015). Learning robotics using Python : design, simulate, program, and prototype an interactive autonomous mobile robot from scratch with the help of Python, ROS, and Open-CV. Packt Publishing