Guías Docentes Electrónicas
1. General information
Course:
PROGRAMMING MOBILE ROBOTS
Code:
56345
Type:
ELECTIVE
ECTS credits:
6
Degree:
352 - UNDERGRADUATE DEGREE PROGRAMME IN MECHANICAL ENGINEERING (AB)
Academic year:
2021-22
Center:
605 - SCHOOL OF INDUSTRIAL ENGINEERS. AB
Group(s):
11 
Year:
4
Duration:
C2
Main language:
English
Second language:
Use of additional languages:
English Friendly:
N
Web site:
Bilingual:
Y
Lecturer: ANTONIO FERNANDEZ CABALLERO - Group(s): 11 
Building/Office
Department
Phone number
Email
Office hours
Escuela Técnica Superior de Ingenieros Industriales / 1.C.3
SISTEMAS INFORMÁTICOS
2406
antonio.fdez@uclm.es
See on the School's web site.

2. Pre-Requisites

Pre-requisites

The student must have prior basic knowledge of computers and programming.

Therefore, and to properly follow this course, it is recommended that students have previously studied the subject 'Computer Fundamentals'.

3. Justification in the curriculum, relation to other subjects and to the profession

Justification in the study plan, and relation with other courses and the profession

The concepts and skills provided in this course are part of the reference MECHATRONICS and thus complement the fourth year electives called 'Pneumatic Systems', 'Sensors and Actuators', 'Virtual Instrumentation' and 'Mechanics of Robots and Manipulators' .

The course is initially based on the programming concepts learned in the subject of 'Computer Basics' as well as some of Robotics concepts seen on the subject 'Industrial Robotics'.

This course provides the concepts and basic skills that an Industrial Engineer specializing in Mechanics requires in relation to the programming of sensors, actuators and control of mobile robots.


4. Degree competences achieved in this course
Course competences
Code Description
A07 Knowledge of Information Technology and Communication (ITC).
A12 Knowledge of basic materials and technologies that assist the learning of new methods and theories and enable versatility to adapt to new situations.
F25 Knowledge of the fundamentals of mobile robotics and their models of reasoning with the objective of knowing how to use specific techniques in terms of the problem to be resolved.
5. Objectives or Learning Outcomes
Course learning outcomes
Description
Programming of a simulator for mobile robots and a real mobile robot, fundamentally in the aspects related to autonomous navigation
Additional outcomes
Description
Knowledge of the internal workings of mobile robots (sensors, actuators and control).
Ability in the handling of computer libraries.
Ability in oral and written communication.
Ability in teamwork.
6. Units / Contents
  • Unit 1: Mobile Robots
  • Unit 2: Mobile Robot Architectures
  • Unit 3: Robot Behaviours
  • Unit 4: Robot Locomotion
  • Unit 5: Robot Sensing
  • Unit 6: Robot Vision
  • Unit 7: Motion Planning
  • Unit 8: Localisation and Mapping
  • Unit 9: Robot Navigation
  • Unit 10: Learning in Mobile Robots
  • Unit 11: Multi-Robot Systems
  • Unit 12: Human-Robot Interaction
7. Activities, Units/Modules and Methodology
Training Activity Methodology Related Competences ECTS Hours As Com Description
Class Attendance (theory) [ON-SITE] Lectures A07 A12 F25 0.96 24 Y N The teacher will focus on the topic and explain its fundamental contents.
Computer room practice [ON-SITE] Practical or hands-on activities A07 A12 F25 0.48 12 Y N It consists in the realization, in small groups, of practical exercises and simulations with specific software.
Project or Topic Presentations [ON-SITE] Group Work A07 A12 F25 0.24 6 Y N It will consist of the exposition of the works carried out in the practices.
Progress test [ON-SITE] Assessment tests A07 A12 F25 0.4 10 Y N They will consist of tests related to both theoretical aspects and practical application.
Final test [ON-SITE] Assessment tests A07 A12 F25 0.16 4 Y Y It will deal with the whole subject evaluating its theoretical and practical aspects.
Workshops or seminars [ON-SITE] Workshops and Seminars A07 A12 F25 0.16 4 Y N It will consist of two simnars for describing the software tools necessary to undertake the practices.
Study and Exam Preparation [OFF-SITE] Self-study A07 A12 F25 3.6 90 Y N
Total: 6 150
Total credits of in-class work: 2.4 Total class time hours: 60
Total credits of out of class work: 3.6 Total hours of out of class work: 90

As: Assessable training activity
Com: Training activity of compulsory overcoming (It will be essential to overcome both continuous and non-continuous assessment).

8. Evaluation criteria and Grading System
Evaluation System Continuous assessment Non-continuous evaluation * Description
Oral presentations assessment 10.00% 10.00% The effort made by the student in exhibiting the work done in the internship will be valued.
Assessment of activities done in the computer labs 25.00% 25.00% The work carried out by the student during the practices will be valued on the basis of a demonstration of the functioning of the programs and the documentation delivered in the written reports.
Practicum and practical activities reports assessment 15.00% 15.00% Both the content of the work presented and the clarity of the written expression will be valued.
Test 50.00% 50.00% Up to four progress tests will be taken. Each of these progress tests must be passed with at least 4 out of 10. It is essential to obtain an average of 4 out of 10 or more in all the progress tests.
Total: 100.00% 100.00%  
According to art. 6 of the UCLM Student Evaluation Regulations, it must be provided to students who cannot regularly attend face-to-face training activities the passing of the subject, having the right (art. 13.2) to be globally graded, in 2 annual calls per subject , an ordinary and an extraordinary one (evaluating 100% of the competences).

Evaluation criteria for the final exam:
  • Continuous assessment:
    The final exam includes all the subjects not passed during the course.
  • Non-continuous evaluation:
    The final exam includes all the subjects of the course.

Specifications for the resit/retake exam:
The retake exam consists of a final exam that covers the whole subject.
No note is kept of the activities carried out during the course.
Specifications for the second resit / retake exam:
The second retake exam consists of a final exam that covers the whole subject.
No note is kept of the activities carried out during any previous course.
9. Assignments, course calendar and important dates
Not related to the syllabus/contents
Hours hours
Computer room practice [PRESENCIAL][Practical or hands-on activities] 12
Project or Topic Presentations [PRESENCIAL][Group Work] 6
Progress test [PRESENCIAL][Assessment tests] 10
Final test [PRESENCIAL][Assessment tests] 4
Workshops or seminars [PRESENCIAL][Workshops and Seminars] 90
Study and Exam Preparation [AUTÓNOMA][Self-study] 4

Unit 1 (de 12): Mobile Robots
Activities Hours
Class Attendance (theory) [PRESENCIAL][Lectures] 2

Unit 2 (de 12): Mobile Robot Architectures
Activities Hours
Class Attendance (theory) [PRESENCIAL][Lectures] 2

Unit 3 (de 12): Robot Behaviours
Activities Hours
Class Attendance (theory) [PRESENCIAL][Lectures] 2

Unit 4 (de 12): Robot Locomotion
Activities Hours
Class Attendance (theory) [PRESENCIAL][Lectures] 2

Unit 5 (de 12): Robot Sensing
Activities Hours
Class Attendance (theory) [PRESENCIAL][Lectures] 2

Unit 6 (de 12): Robot Vision
Activities Hours
Class Attendance (theory) [PRESENCIAL][Lectures] 2

Unit 7 (de 12): Motion Planning
Activities Hours
Class Attendance (theory) [PRESENCIAL][Lectures] 2

Unit 8 (de 12): Localisation and Mapping
Activities Hours
Class Attendance (theory) [PRESENCIAL][Lectures] 2

Unit 9 (de 12): Robot Navigation
Activities Hours
Class Attendance (theory) [PRESENCIAL][Lectures] 2

Unit 10 (de 12): Learning in Mobile Robots
Activities Hours
Class Attendance (theory) [PRESENCIAL][Lectures] 2

Unit 11 (de 12): Multi-Robot Systems
Activities Hours
Class Attendance (theory) [PRESENCIAL][Lectures] 2

Unit 12 (de 12): Human-Robot Interaction
Activities Hours
Class Attendance (theory) [PRESENCIAL][Lectures] 2

Global activity
Activities hours
10. Bibliography and Sources
Author(s) Title Book/Journal Citv Publishing house ISBN Year Description Link Catálogo biblioteca
Robotics and Autonomous Systems http://www.elsevier.com/wps/find/journaldescription.cws_home/505622/description  
Journal of Field Robotics http://journalfieldrobotics.org/Home.html  
 
A. Ollero Robótica: Manipuladores y Robots Móviles Marcombo 978-8-426-71313-1 2005 Chapters 2 and 7-12  
B. Siciliano, L. Scavicco, L. Villani, G. Oriolo Robotics: Modelling, Planning and Control Springer 978-1-84628-641-4 2009 Chapters 5 and 11-12  
F. Fahimi Autonomous Robots: Modeling, Path Planning, and Control Springer 978-0-387-09537-0 2009 Chapter 6  
F. Torres, J. Pomares, P. Gil, S.T. Puente, R. Aracil Robots y Sistemas Sensoriales Prentice Hall 84-205-3574-5 2002 Chapters 6-7, 11 and 14  
H. Choset, K.M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L.E. Kavraki, S. Thrun Principles of Robot Motion: Theory, Algorithms, and Implementations The MIT Press 978-0-272-03327-5 2005  
R. Siegwart, I.R. Nourbakhsh, D. Scaramuzza Introduction to Autonomous Mobile Robots, Second Edition The MIT Press 978-0-262-01535-6 2011  
S. Thrun, W. Burghard, D. Fox Probabilistic Robotics The MIT Press 978-0-262-20162-9 2005 Chapters 2 and 7-12  



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