Mobile Robotics - 710222M

Mobile Robotics (710222M):

To teach students fundamental concepts on robot perception and acting, robot kinematics, control architectures, path planning, and mapping and localization.

Methodology: This course is organized in 8 theoretical sessions, 6 practical sessions and 1 session oriented to present the final project results. Theoretical and practical sessions are synchronized each other. At the end of each theoretical session and previous any practical session, a short test is performed.

Course Calendar:

Theory: Mobile Robotics Introduction and Motivation
Theory-Practice: ROS introduction and fundamental basis Part I and II

a. Basic Linux commands.

b. Packages

c. Topics, publishers, and subscribers

d. Services and messages

e. Actions and servers

Theory-Practice: ROS debugging tools.

a. RViz

b. RQT

c. Rosbag

Theory: Perception in mobile robotics: Proximity and Range
Practice: LeJOS and ROS– Robots: Legos, Pioneer3DX, Turtlebot3.
Theory: Perception in mobile robotics: Vision
Theory: Localization and Kinematic models
Practice Kinematic Models (LeJOS and ROS) – Robot: Legos, Pioneer3DX and Turtlebot3.
Theory: Introduction to mobile robot mapping and localization
Practice: Mapping and Localization using Particle Filters and Metric Maps.
Theory: Introduction to Path Planning and Navigation
Practice: Path Planning using Turtlebot3 and Pioneer3DX

References:

1. Sebastian Thrun, Wolfram Burgard, and Dieter Fox. “Probabilistic Robotics (Intelligent Robotics and Autonomous Agents series)”. Intelligent robotics and autonomous agents. The MIT Press, August 2005.
2. Siegwart, R., Nourbakhsh, I., and Scaramuzza, D., “Introduction to Autonomous Mobile Robots, Second Edition”. A Bradford Book, The MIT Press, ISBN: 978-0-262-01535-6, February, 2011.
3. Joseph L. Jones, Anita M. Flynn, Bruce A. Seiger, "Mobile Robots: Inspiration to Implementation", second edition, AK Peters, 1998.
4. Ollero Aníbal, “Robótica Manipuladores y Robots Móviles”, Marcombo S.A. 2001.
5. John J. Craig, “Robótica”, Prentice Hall, Tercera edición, 2006.

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