Robotics
Keywords |
Classification |
Keyword |
OFICIAL |
Artificial Intelligence |
Instance: 2017/2018 - 1S ![Requerida a integração com o Moodle Ícone do Moodle](/feup/pt/imagens/MoodleIcon)
Cycles of Study/Courses
Acronym |
No. of Students |
Study Plan |
Curricular Years |
Credits UCN |
Credits ECTS |
Contact hours |
Total Time |
MIEIC |
22 |
Syllabus since 2009/2010 |
5 |
- |
6 |
42 |
162 |
Teaching language
English
Objectives
- 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.
- Improve the ability to communicate regarding scientific and technical issues.
- Improve healthy scientific approach.
Learning outcomes and competences
At the end of this Curricular Unit, 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
- List and use classical Robotic Architectures
- Know the current State of the Art in Robotics
- Know frequently used sensors and actuators (in robotics)
- Evaluate usage of vision systems 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
Working method
Presencial
Pre-requirements (prior knowledge) and co-requirements (common knowledge)
Experience in computer language programming is needed - any language, frequentely used languages include Java, C++ or Object Pascal, ...
Program
- Introduction
- Artificial Intelligence
- Basic concepts of Robotics
- Artificial Intelligence in Robotics
- History, Evolution, and Current Trends in Intelligent Robotics
- Architectures for Robotic Agents
- Reactive, Deliberative, Hybrid
- Belief, Desire and Intentions (BDI)
- Cooperative Architectures
- Perception in robotics
- Odometry, Rotation and Compass Sensors
- Sensors commonly used in robotics including artificial vision and depth
- Sensor Fusion Techniques
- Localization and Mapping
- Creation, representation and updating of World States.
- Markov and Gaussian Localization
- Grid and Monte-Carlo Localization
- Mapping: Occupancy Grid and SLAM
- World Exploration
- Actuation and control in robotics
- Locomotion modes, issues with kinematics and dynamics
- Actuators and associated physical parameters
- Robot locomotion simulation
- Navigation
- Algorithms of navigation in known/unknown environments
- Voronoi Diagrams
- A* and D* Algorithms
- Cellular Decomposition
- Cooperative Robotics
- Introduction to the cooperation between robots for teamwork
- Joint Intentions, TAEMS, Role-Based, Social Rules
- Communication and Mutual Modeling
- Locker-Room, Strategical Coordination, Partial Hierarchical
- Applications
- 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
- Robotic simulators: Soccerserver 2D and 3D, RoboCup Rescue, Virtual Rescue, Ciber-Mouse
- 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
Sebastian Thrun, Wolfram Burgard, Dieter Fox ;
Probabilistic Robotics, MIT Press, Cambridge, Massachussets, London England, 2005. ISBN: 0-262-20162-3
Siciliano, Bruno; Khatib, Oussama (Eds.);
Springer Handbook of Robotics, Springer, 2008. ISBN: 978-3-540-38219-5
Jason M. O'Kane;
A Gentle Introduction do ROS, Independently published, 2013. ISBN: 978-14-92143-23-9 (Free - https://www.cse.sc.edu/~jokane/agitr/)
Teaching methods and learning activities
- Exposition with interaction in 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
- Evaluation includes ability to search information, do scientific work, do technical work and disseminate the work done. Higher order thinking skills are encouraged
- Detailed feedback given to students about the quality of their research work and learning process
Software
Linguagem de Programação: C++
Simuladores Soccer-Server (2D e 3D)
Simulador Ciber-Rato
Simulador RoboCup Rescue
ROS
keywords
Technological sciences > Engineering > Knowledge engineering
Technological sciences > Engineering > Control engineering > Robótica Robotics
Technological sciences > Engineering > Simulation engineering
Technological sciences > Engineering > Computer engineering
Technological sciences > Technology > Knowledge technology > Agent technology
Evaluation Type
Distributed evaluation without final exam
Assessment Components
Designation |
Weight (%) |
Trabalho escrito |
30,00 |
Trabalho laboratorial |
70,00 |
Total: |
100,00 |
Amount of time allocated to each course unit
Designation |
Time (hours) |
Elaboração de projeto |
40,00 |
Estudo autónomo |
30,00 |
Frequência das aulas |
42,00 |
Trabalho de investigação |
20,00 |
Trabalho laboratorial |
30,00 |
Total: |
162,00 |
Eligibility for exams
- Attendence.
- Assignments 1 and 2 with more than 6 out of 20 in each of them
Calculation formula of final grade
- 10% HomeWorks
- 20% Assignment 1 (includes oral presentation)
- 20% Assignment 2 (includes scientific conference short paper)
- 10% Assignment 3 (Half Way Project)
- 40% Assignment 3 (Final Project), detailed as:
- 10% Code & Functionalities & Demonstration
- 10% "Conference" article
- 05% references
- 10% Presentation + Q&A
- 05% video
Examinations or Special Assignments
- HomeWorks
- Assignment 1
- Research & Survey about New Trends in Robotics
OR Initial small project in intelligent robotics
- Assignment 2
- Simple a reactive robot
- Frequently team of 2 students; individual works allowed; max team size of 4 students (Goals to be defined at the beginning of the work on a case to case basis - depending on team size, etc)
- Course Project
- Assignments 3 and 4 relate to "Course Project", the project in the field of the course
- Assignment 3 - Half way evaluation of the status of the Course Project (design and implementation)
- Assignment 4 - Demonstration of Course Project + Dissemination elements (Oral Presentation + Publishable Scientific Article + Video)
Internship work/project
Class Project: Ciber Mouse simulation agent (such as collaborative or mapping), autonomous driving or other scientific research project agreed by students and teacher
Special assessment (TE, DA, ...)
- Attendance not required
- 20% Assignment 1
- 20% Assignment 2
- 60% Assignment 4 - Project + Dissemination (Oral Presentation + Article + Video)
Classification improvement
- Individual improvement of the previously work that must have been previously presented in the final course presentation.
- To improve homeworks, one must improve and present all homeworks
Observations
Attention: Classes and course materials will be given to students in English.