Autonomous Robotic Systems
Robotics, Control and Systems
2nd Cycle Studies - Mestrado
Linear algebra and analytic geometry, Matrix Calculus, Differential Calculus, Stochastic Estimation, Control, Sensors and Actuators
This course adopts as teaching methodologies the presentation of theoretical and conceptual aspects of autonomous robotics is master classes (theoretical classes), complemented with a strong laboratory component where students are able to implement and validate the concepts presented and learned on the master classes by performing simulation studies in Matlab and through the realization of an experimental project using several didactic mobile platforms. ROS development plataform is used on the laboratory component.
This course aims to present the various functional subsystems that comprise a robotic system. The course seeks to provide students with knowledge in the computational aspects of Autonomous Robotics, in particular in modeling, localization, map representation and map generation and robot navigation.
It is intended that students acquire competencies in design, modeling and integration of robotic subsystems, in particular those oriented to mobile robotics, encouraging critical reasoning skills, autonomous learning and ability to apply theoretical concepts to practical problems.
1. Introduction and contextualization of robotics systems
2. Actuators and Sensors for mobile robots
3. Locomotion and Driving.
4. Odometry, modeling and error correction
5. Maps, Mapping and Construction of maps
6. Navigation and Localization
7. Planning Movement and Trajectories
8. SLAM - Simultaneous localization and mapping.
Rui Paulo Pinto da Rocha
Laboratory work or Field work: 50.0%
- R. Siegwart, I. R. Nourbakhsh, D. Scaramuzza (1st ed 2004, 2nd ed 2011), Introduction to Autonomous Mobile Robots, The MIT Press, 2004 (2011)
- S. Thrun, W. Burgard e D. Fox (2005), Probabilistic Robotics, The MIT Press, 2005
- Howie Choset, Kevin M. Lynch, Seth Hutchinson, George A. Kantor, Wolfram Burgard, Lydia E. Kavraki, Sebastian Thrun (2005), Principles of Robot Motion Theory, Algorithms, and Implementations, MIT Press
- Gregory Dudeck & Michael Jenkin (2000) Computational Principles of Mobile Robotics, Cambridge University Press
- H. R. Everet, A.K.Peters (1995), Sensors for Mobile Robots-Theory and Applications, (online available)
- Batista, J. (2012-2019) – Diapositivos das aulas teóricas de SRRM, DEEC-FCTUC.