- Fundamental Concepts of Autonomous Systems
- Fundamental concepts of tele-operated systems
- What are architectures and the different types that characterize autonomous systems
- The reactive functionality of autonomous systems: sensors and perception
- The deliberative functionality of autonomous systems: navigation, location and mapping.
- Fundamental planning concepts
- Fundamental Learning Concepts
- Fundamental concepts of Human Robot Interaction
- Fundamental concepts of multi-robot systems
- Addressnew problems and strategies for implementing heterogeneous autonomous robotic systems
- Increase the ability to implement heterogeneous robotic systems
- Develop creativity and innovation.
- Non-technical skills
- Develop the ability to synthesis and critical analysis
- Work as a team and increase written and oral communication
- Time management capacity and meeting deadlines
José António Barata de Oliveira, Luís Manuel Camarinha de Matos
Weekly - 4
Total - Available soon
Fundamental to know Computer Programming
It is recommendable to have basic knowledge in robotics
- TRSA - Supporting Notes.
- Bonabeau, E., Dorigo, M. and Theraulaz, G. (1999) Swarm Intelligence: From Natural to Artificial Intelligence. New York ; Oxford: Oxford Univ. Press.
- Ghallab, M., Nau, D. and Traverso, P. (2004) Automated Planning, Automated Planning: Theory and Practice. Elsevier. doi: 10.1016/B978-1-55860-856-6.X5000-5
- Kernbach, S. (2013) Handbook of Collective Robotics. Jenny Stanford Publishing. doi: 10.1201/b14908.
- Murphy, R. R. (2019) Introduction to AI ROBOTICS - Second Edition. Cambridge, Massachusetts; London, UK: MIT Press
Theoretical component: Exhibition classes followed by exemplifying and discussion.
Laboratory component: For each work: Presentation of the utterance, tutorial on the technology / tools to be used, discussion of the work method, accomplishment of the work by the students accompanied by a teacher and preparation of report.
Evaluation has a theoretical and practical component.
The weight of the Theory is 30% and that of practice 70%.
The practical component is carried out through 3 practical papers and discussion.
A minimum score of 9.5 Values is required in the practical component.
The theoretical component has no minimum grade.
WARNING: The practical component is mandatory.
A. Introduction 
- What is the subject of the chair
- Historical Development
- Robot Components - Link, Joint, Manipulator, Wrist, End-eﬀector, Actuators, Sensors, Controller
- Robot Classiﬁcations – Geometry, Workspace, Actuation, Control, Application
- Robot Parameters – Repeatability, Precision, …
B. Representing Position and Orientation 
- Homogeneous Transformation Matrices
C. Robot Arm Kinematics 
- Forward Kinematics
- Inverse Kinematics
D. Trajectory Planning 
E. Robot Sensors 
- Principles of Sensing
- Sensors of Movement
- Contact Sensors
- Proximity and Ranging Sensors
F. Robot Vision 
- Light and Color
- Camera Calibration
- Images and Image Processing
- Feature Extraction
- Vision Based Control
G. Robot Programming 
H. Mobile Robots Introduction and Locomotion 
I. Mobile Robots Kinematics 
J. Mobile Robots Perception 
- Sensors for Mobile Robots
- Place Recognition
- Feature Extraction Based on Range Data (Laser, Ultrasonic)
K. Mobile Robots Localisation 
- The challenge of Localising
- Dead Reckoning
- Localise with a map
L. Mobile Robots Planning & Navigation 
- Reactive Navigation
- Path Planning
- Obstacle Avoidance – Bug algorithm and others
- Map Based Planning
Programs where the course is taught: