Course Unit / Autonomous Robotic Systems

Autonomous Robotic Systems

Year
1
Academic year
2014-2015
Code
03000076
Subject Area
Electrical and Computer Engineering
Language of Instruction
Portuguese
Mode of Delivery
Face-to-face
ECTS Credits
6.0
Type
Elective
Level
3rd Cycle Studies

Recommended Prerequisites

Linear algebra, Probability and Statistics, Multi-variable calculus.

Teaching Methods

The teaching methodology focuses on tutoring the student to better adjust his research techniques in the field of his work. The student presents the results of the work by seminars as reports on the activities.

Besides the reference bibliography,  conference and journal articles spanning a range of robotic tasks, and visual algorithms will be used. Each student will submit short written analyses of one/two papers and get feedback.


Learning Outcomes

The purpose of this course is to provide an introduction to some more recent models and algorithms for mobile robotic tasks and improvement of their autonomy. This will involve acquiring knowledge on the current state of the art in the field of autonomous robotics and its techniques and development methodologies.

Work Placement(s)

No

Syllabus

Introduction to Autonomous Robotic Systems. Historical perspective and recent developments in autonomous systems. Models and kinematics. Sensors and Vision Systems. Determination of position. Estimation and Combining Sensor Information. Simulation, Case Studies and Future prospects.

Head Lecturer(s)

João Filipe de Castro Cardoso Ferreira

Assessment Methods

Assessment
Research work: 50.0%
Synthesis work: 50.0%

Bibliography

H.R. Everet, Sensors for Mobile Robots -Theory and Applications, A.K. Peters, ISBN 1-56881-048-2, 1995 (Chap 1)

Phillip John McKerrow, Introduction to Robotics (Electronic Systems Engineering Series), May 1991, Addison-Wesley Pub Co., ISBN: 0201182408, (Chap 1,2)

Ronald C. Arkin, Behavior Based Robotics, MIT Press, ISBN 0-262-01165-4, 1998 (Chap 1)

Jack B. Kuippers, Quaternions and Rotation Sequences, 1999, Princeton University Press, ISBN: 0-691-05872-5 (Chap 4,5, 7 e 11)

Richard M. Murray, Zexiang Li, S. S.Shankar Sastry, A Mathematical Introduction to Robotic Manipulation, 1994, CRC Press, ISBN: 0-8493-7982-4 (Chap 2 e 3)

George A. Bekey, Autonomous Robots - From Biological Inspiration to Implementation and Control, MIT press, 2005, ISBN: 9780262025782.