Robotics

Code:

EIC0071

Acronym:

ROBO

Keywords
Classification	Keyword
OFICIAL	Artificial Intelligence

Instance: 2010/2011 - 1S

Active?	Yes
Web Page:	http://moodle.fe.up.pt/1011/course/view.php?id=1218
Responsible unit:	Automation, Control and Industrial Production Systems
Course/CS Responsible:	Master in Informatics and Computing Engineering

Cycles of Study/Courses

Acronym	No. of Students	Study Plan	Curricular Years	Credits UCN	Credits ECTS	Contact hours	Total Time
MIEIC	14	Syllabus since 2009/2010	5	-	6	56	162

Teaching language

English

Objectives

AIMS

To understand the basic concepts of Robotics and the context of Artificial Intelligence in Robotics.
To study methods of perception and sensorial interpretation (emphasizing computer vision), which allow to create precise world estates and mobile robots’ control methods.
To study the methods which allow mobile robots to navigate in familiar or unfamiliar environments using Planning and Navigation algorithms.
To study the fundamentals of cooperative robotics and robots' teams construction.
To analyze the main national and international robotic competitions, the more realistic robot simulators and the more advanced robotic platforms available in the market.



OUTCOMES

At the end of this UC, students should be able to:
- Define Robotic Autonomy
- Define Intelligent Robotic System (IRS)
- Explain relation of Artificial Intelligence (IA) and IRSs
- List Applications for Robotic Systems
- Know the current State of the Art in Robotics
- Know frequently used sensors and actuators
- Evaluate usage of vision sistems compared to other sensors
- Use methodologies from: Data Fusion, IA, data processing and vision processing in order to build perceptions of the world state
- Know and use methods for Localization, Planning and Navigation in robotics
- Know and use one or more robotic systems or simulators
- Know and use cooperation techniques for several types of collaborative robotics

Program

1. Introduction
1.1) Artificial Intelligence
1.2) Basic concepts of Robotics
1.3) Artificial Intelligence in Robotics
1.4) History, Evolution, and Current Trends in Intelligent Robotics

2. Architectures for Robotic Agents
2.1) Reactive, Deliberative, Hybrid
2.2) Belief, Desire and Intentions (BDI)
2.3) Cooperative Architectures

3. Perception and Sensorial Interpretation
3.1) Proximity sensors: Sonar or ultrasonic, infrared (IR), touch, light and feel sensors
3.2) Computer Vision: CCD cameras, Digital Image, Colour Models, Image Processing, Image Analysis
3.3) Odometry, Rotation and Compass Sensors
3.4) Sensor Fusion Techniques

4. Localization and Mapping
4.1) Creation, representation and updating of World States.
4.2) Markov and Gaussian Localization
4.3) Grid and Monte-Carlo Localization
4.4) Mapping: Occupancy Grid and SLAM
4.5) World Exploration

5. Mobile robots control: locomotion and action.
5.1) Locomotion modes
5.2) Gears, Speed, Torque
5.3) Robot locomotion simulation

6. Plan Automatic Generation:
6.1) Means-Ends Analysis, Linear and non-linear planning
6.2) Planning and Learning: Plan generality

7. Navigation
7.1) Algorithms of navigation in known/unknown environments
7.2) Voronoi Diagrams
7.3) A* and D* Algorithms
7.4) Cellular Decomposition

8. Cooperative Robotics
8.1) Introduction to the cooperation between robots for teamwork
8.2) Joint Intentions, TAEMS, Role-Based, Social Rules
8.3) Communication and Mutual Modeling
8.4) Locker-Room, Strategical Coordination, Partial Hierarchical

9. Applications
9.1) National and International Robotic Competitions: RoboCup, RoboOlympics, Fira Cup, DARPA Grand-Challenge, Portuguese Robotics Open, Autonomous driving, Micro-Mouse (Micro-Rato) and fire fighting Robots
9.2) Robotic simulators: Soccerserver 2D and 3D, RoboCup Rescue, Virtual Rescue, Ciber-Mouse
9.3) Robotic Platforms: MindStorms, ERS210A e ERS-7 (Sony Aibos): Hardware, Software Architectures and Robotic Programming Languages.

Mandatory literature

Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki, Sebastian Thrun ; Principles of Robot Motion : Theory, Algorithms, and Implementations , Bradford Book, MIT Press, Cambridge, Massachussets, London England, 2005. ISBN: 0-262-03327-5
Robin R. Murphy; An Introduction to AI Robotics , Bradford Book, MIT Press, Cambridge, Massachussets, London England, 2000. ISBN: 0-262-13383-0
Russell, Stuart; Artificial intelligence. ISBN: 0-13-360124-2

Complementary Bibliography

RoboCup Series (1999, 2000, 2001, 2002 e 2003, 2004 e 2005), Springer, LNAI
Sebastian Thrun, Wolfram Burgard, Dieter Fox ; Probabilistic Robotics, MIT Press, Cambridge, Massachussets, London England, 2005. ISBN: 0-262-20162-3
Manuais dos Simuladores: Soccerserver, RoboCupRescue e Ciber-Rato
Manuais de OPEN-R e Documentação das Plataformas ERS210A e ERS7, 2005

Teaching methods and learning activities

Exposition with interaction in theoretical classes.
Use of simulators for mobile robots navigation (Ciber Mouse - “ciber-rato”).
Assignments on cooperative robotics (“robosoccer” and “Robocup rescue”).
Exploration of mobile robotic platforms.
Challenge students to higher level learning.
Detailed feedback given to students about the quality of their research work and learning process.

Software

Simulador RoboCup Rescue
R-CODE SDK (ERS7)
Simuladores Soccer-Server (2D e 3D)
Linguagem de Programação: C++
OPEN-R SDK (ERS210A e ERS7)
Simulador Ciber-Rato

keywords

Technological sciences > Engineering > Computer engineering
Technological sciences > Engineering > Knowledge engineering
Technological sciences > Engineering > Simulation engineering
Technological sciences > Engineering > Control engineering > Robótica Robotics
Technological sciences > Technology > Knowledge technology > Agent technology

Evaluation Type

Distributed evaluation without final exam

Assessment Components

Description	Type	Time (hours)	Weight (%)	End date
Attendance (estimated)	Participação presencial	33,00
HomeWorks	Trabalho escrito	4,00
Assignment 1	Trabalho escrito	6,00		2010-10-13
Assignment 2	Trabalho escrito	12,00		2010-11-03
Project	Trabalho laboratorial	87,00		2010-12-15
Demonstration of project + Presentation + Sci Article + Production of Video	Trabalho escrito	20,00		2011-01-03
	Total:	-	0,00

Eligibility for exams

Presence information.
Assignments with more than 6 out of 20 in each of them

Calculation formula of final grade

10% HomeWorks

20% Assignment 1
20% Assignment 2

10% Assignment 3 - Half Way Project
40% Assignment 4 - Demonstration of Project + Dissemination (Oral Presentation + Article + Video)

Examinations or Special Assignments

HomeWorks - Small weekly assignments

Assignment 1 - Research & Survey about New Trends in Robotics
Assignment 2 - Simple Simulation of a robot

Project - Most frequently team of 2 students; individual works allowed; max team size =4
(Goals to be defined at the beginning of the work on a case to case basis - depending on team size, etc)

Project Subject: Ciber Mouse simulation agent (collaborative?), Autonomous driving or other scientific research project

Assignment 3 - Half way Project
Assignment 4 - Demonstration of Project + Dissemination elements (Oral Presentation + Publishable Scientific Article + Video)

Special assessment (TE, DA, ...)

20% Assignment 1
20% Assignment 2

60% Assignment 4 - Project + Dissemination (Oral Presentation + Article + Video)

Classification improvement

Individual improvement of the previously presented works.
To improve homeworks, one must improve and present all homeworks
Improvements must be turned in until last exam season - Feb 2, 2011

Observations

All course materials will be given to students in English.