| Competencies / Study results |
| Code | Study programme competences / results |
| A14 | COMP14 - Capacidad para diseñar, simular y/o implementar soluciones tecnológicas que impliquen el uso de robots y/o sistemas de informática industrial en un entorno, contemplando aspectos éticos y legales. |
| A17 | COMP17 - Capacidad para alcanzar la optimización, eficiencia y sostenibilidad en el desarrollo de sistemas robóticos y/o industriales y/o metaheurísticos. |
| A23 | CON05 - Adquirir un entendimiento profundo de los principios básicos de la robótica y las tecnologías innovadoras en automatización. |
| A26 | CON08 - Identificar las estructuras mecánicas básicas y avanzadas con las que se construyen las distintas morfologías robóticas, así como las claves y parámetros de su comportamiento, y los modelos cinemáticos y dinámicos de robots. |
| A52 | OPT-COMP9 - Comparar as principais problemáticas e solucións existentes na planificación de traxectorias, a navegación autónoma, a localización e creación de mapas |
| A68 | OPT-CON9 - Identificar as particularidades dos robots móbiles no contexto da robótica industrial, e en concreto, dos robots móbiles autónomos. |
| A86 | OPT-HAB9 - Distinguir os principios físicos dos sensores utilizados na navegación autónoma de robots, e os seus contextos de aplicación. |
| Learning aims | |||
| Learning outcomes | Study programme competences / results | ||
| Knowledge of the particularities of mobile robots in the context of industrial robotics, and in particular of autonomous mobile robots. | AR14 |
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| Knowledge of the physical principles of sensors used in autonomous robot navigation, and their application contexts. | AR17 AR23 AR26 |
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| Knowledge of the problems and the main existing solutions in localisation and mapping. | AR52 |
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| AR68 |
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| AR86 |
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| Contents |
| Topic | Sub-topic |
| Introduction to mobile robotics | Kinematics of mobile robots Locomotion: - Motors - Degrees of freedom - Legs - Wheels - Other effectors |
| Perception in mobile robotics | - Types of sensors - Sensors in mobile robotics -- Contact -- Distance -- Computer vision -- IMU -- GPS - Control architectures -- Deliberative -- Reactive -- Hybrid -- Communications |
| Movement control | - Position control system |
| Localization and mapping | - Navigation: -- Topological -- Metric - Simultaneous localisation and mapping -- Localisation (odometry, beacons) -- Visual SLAM |
| Trajectory planning and navigation | - Graph search - Wavefront-based planning |
| Planning | ||||
| Methodologies / tests | Competencies / Results | Teaching hours (in-person & virtual) | Student’s personal work hours | Total hours |
| Guest lecture / keynote speech | A23 A52 A68 A86 | 10.5 | 4.5 | 15 |
| ICT practicals | A14 A17 | 10.5 | 4.5 | 15 |
| Oral presentation | A23 A52 A68 A86 | 3 | 9 | 12 |
| Supervised projects | A14 A17 A26 A86 | 0 | 30 | 30 |
| Personalized attention | 3 | 0 | 3 | |
| (*)The information in the planning table is for guidance only and does not take into account the heterogeneity of the students. | ||||
| Methodologies |
| Methodologies | Description |
| Guest lecture / keynote speech | Oral presentation of the theoretical syllabus by the teachers of the course. |
| ICT practicals | Face-to-face sessions with the computer in which teachers will explain the use and programming of the mobile robotics techniques seen in theory, so that students acquire sufficient skills to use them autonomously. Real and/or simulated robots will be used. |
| Oral presentation | Theory paper(s) on a topic proposed by the teachers of the course, which must be presented in front of classmates and also handed in in writing. |
| Supervised projects | Practical tasks of programming in which some of the techniques seen in the theoretical classes will be implemented on simulation environments of robots or real robots. These tasks will be carried out autonomously by the students and their progress will be tutored by the teachers. |
| Personalized attention |
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| Assessment | |||
| Methodologies | Competencies / Results | Description | Qualification |
| Supervised projects | A14 A17 A26 A86 | Several practical works will be proposed throughout the course focused on the resolution of problems using autonomous vehicles. These works will be developed by the student outside of class and will have to be defended afterwards. | 60 |
| Oral presentation | A23 A52 A68 A86 | The oral presentation of the theoretical work/works, the written version of the same and the active participation in the presentations of the classmates have an important weight in the final grade of the course. | 20 |
| Guest lecture / keynote speech | A23 A52 A68 A86 | During the lectures, in person activities will be carried out to reinforce the comprehension of the theoretical aspects. | 10 |
| ICT practicals | A14 A17 | Session in the ICT classrooms where students are trained on the tools to be used in the practical part of the subject, such as simulators, real robots or programming libraries. | 10 |
| Assessment comments | |||
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First opportunity: Depending on the complexity of the tools to be used, the score of the ICT practices can be accumulated in the part of Supervised Projects. In order to obtain a pass in the first opportunity, a minimum score of 50 must be exceeded by adding all the previous methodologies, being necessary to obtain a minimum of 35 in the sum of the Supervised Projects and the ICT Practices, and 15 in the sum of the Oral Presentation and the Master Session. Second opportunity: If the student does not pass the subject on the first opportunity, he/she must repeat the activities that are necessary from the method(s) that were not passed in the second call. For example, if a student passed the Oral Presentation + keynote part, but failed the Supervised Work, he/she must repeat the practical work necessary to pass the course, normally those that were not individually passed. In the second opportunity, the minimum grade criteria established in the first call are maintained. Early opportunity For this opportunity, the same criteria are maintained as for the first, with the student having to specify delivery deadlines with the subject teachers. Students with part-time registration or academic exemption They may accumulate 10% of the grade corresponding to the keynote in the oral presentation in both sessions. This modification must be requested from the professors of the subject at the beginning of the semester. Likewise, if they cannot make the oral presentation with the rest of the students, they must arrange an alternative date with the professors in all sessions. All regulatory aspects related to “academic exemption”, “dedication to study”, “permanence” and “academic fraud” will be governed in accordance with the current academic regulations of the UDC (https://www.udc.es/es/normativa/academica/) |
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| Sources of information |
| Basic |
• Siegwart, Roland (2004). Introduction to autonomous mobile robots. MIT Press
Nehmzow, Ulrich (2003). Mobile robotics a practical introduction. Springer
Kelly, Alonzo (2013). Mobile robotics: mathematics, models and methods. Cambridge University Press |
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| Complementary |
Robin R. Murphy (2000). Introduction to AI Robotics. A Bradford Book
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
Lynch, Kevin (2017). Modern robotics : mechanics, planning, and control. Cambridge University Press |
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| Recommendations | ||
| Subjects that it is recommended to have taken before | ||
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| Subjects that are recommended to be taken simultaneously | ||
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| Subjects that continue the syllabus | |
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| Other comments | |
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1.- The delivery of the documentary works that are carried out in this subject: • 1.1. It will be requested in virtual format and/or computer support. • 1.2. It will be done through Moodle, in digital format without the need to print them • 1.3. If done on paper: - No plastic will be used. - Double-sided printing will be done. - Recycled paper will be used. - Printing drafts will be avoided. 2.- Sustainable use of resources must be made and negative impacts on the natural environment must be prevented. 3.- The importance of ethical principles related to the values ??of sustainability in personal and professional behavior must be taken into account. 4.- According to the different regulations applicable to university teaching, the gender perspective must be incorporated in this matter (non-sexist language will be used, bibliography by authors of both sexes will be used, the intervention of male and female students in class will be encouraged...). 5.- Work will be done to identify and modify sexist prejudices and attitudes, and the environment will be influenced to modify them and promote values ??of respect and equality. 6. Situations of discrimination based on gender must be detected and actions and measures will be proposed to correct them. 7. The full integration of students who, for physical, sensory, psychological or sociocultural reasons, experience difficulties in having suitable, equal and beneficial access to university life will be facilitated. |