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IPLUSO 22088

Applied and Mobile Robotics

Automation and Computer Systems
  • ApresentaçãoPresentation
    The Applied and Mobile Robotics course unit offers comprehensive training on the fundamentals and applications of autonomous mobile robotic systems. The program begins with historical context and the current state of the art, identifying the various typologies and essential components of a mobile robot. Regarding control and movement, students explore kinematics, locomotion systems, the integration of sensors and actuators, and the application of control loops. Finally, the course deepens expertise in autonomous navigation by addressing the primary programming paradigms (reactive, hierarchical and hybrid) and path and trajectory planning, enabling the development of complete robotic mobility solutions.
  • ProgramaProgramme
    S1. Introduction to Mobile Robotics: Introduction to Mobile Robotics; Historical context; Types of mobile robots; State of the art in Mobile Robotics and applications; Components of a Mobile Robot. S2. Navigation and Planning: Robot programming paradigms: Reactive, Hierarchical, and Hybrid; Path and trajectory planning; Obstacle avoidance. S3. Movement and Control of Mobile Robots: Introduction to locomotion; Types of locomotion; Kinematics; Actuators: definition and types; Internal and external sensors; PID Control.
  • ObjectivosObjectives
    LO1. Recognize the various fields and applications of Mobile Robotics. LO2. Identify the main components of a mobile robot. LO3. Acquire knowledge of programming with mobile robots. LO4. Possess knowledge for programming and parameterization of mobile robots. LO5. Possess knowledge of programming for path planning and control of mobile robots. LO6. Possess knowledge in the use of modeling and programming software.
  • BibliografiaBibliography
    SIEGWART, Roland; NOURBAKHSH, Illah R. (2004) - Introduction to Autonomous Mobile Robots. 1ª ed. Cambridge, Massachusetts : MIT Press, 2004. 321 p. Intelligent Robotics and Autonomous Agents. ISBN 978-0262195027. THRUN, Sebastian; BURGARD, Wolfram; FOX, Dieter (2005) - Probabilistic Robotics. 1ª ed. Cambridge, Massachusetts : MIT Press, 2005. 672 p. Intelligent Robotics and Autonomous Agents. ISBN 978-0262201629.  
  • MetodologiaMethodology
    T1: In theoretical classes, the expository and interactive method of presenting concepts and demonstrating their developments is used. The theoretical exposition is accompanied by solving practical examples of direct application of the subject, encouraging student participation. T2: Resolution of application problems and presentation of examples to consolidate the exposed contents. T3: Practical classes with experimental and functional tests of mobile robots existing in the laboratories, which result in laboratory work. T4: The evaluation will be done in two stages: a test and/or an exam with theoretical and practical component, minimum grade of 9.5 in the test or exam, this component having a weight of 50%. The evaluation of practical work and discussion will have a weight of 50%, with students having to deliver a report for each practical work, which includes programming and practical assembly in a laboratory environment and resolution by simulation.
  • LínguaLanguage
    Português
  • TipoType
    Semestral
  • ECTS
    5
  • NaturezaNature
    Mandatory
  • EstágioInternship
    Não