En esta asignatura, se explican las técnicas de coordinación inteligente entre robots móviles. Dichas técnica se aplicaran en un simulador y en robots reales.
Objetivos
-
Understand some cooperative techniques for locating, exploring and perceiving with multiple robots
Competencias relacionadas:
CG3,
CEA14,
CEP3,
CEP4,
CT3,
CT4,
CT5,
Subcompetences:
- prrr
- Analise the possibilities of application
-
Understand the limitations of the cooperative techniques in real environments
Competencias relacionadas:
CG3,
CEA14,
CEP3,
CEP4,
CT3,
CT4,
CT5,
Subcompetences:
- Knowing how to apply the theory in simulations
- Knowing how to apply the theory in simulations
Contenidos
-
Auto-localización multi-robot
SLAM, probabilistics methods, particle filters, perceptions-based methods
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Cooperative exploration and perception
Coordinated exploration in unknown environments, map generation
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Multi-robot tasks coordination
Task assignment (explicit, emergent), swarms, auctions. ALLIANCE, BLE, M+.
-
Dynamical physical systems
Multi-agent systems: software and logical versus physical ones. Dynamics and capacities.
-
Cooperation related Architectures
Subsumption, Swarms, InteRRap, ALLIANCE, DPA2
Actividades
Actividad
Acto evaluativo
Development of the theory and simulations
Objetivos:
1
2
Contenidos:
Homework by teams, with real robots
Metodología docente
In hours in the classroom exposed to the theoretical computer support.
In the laboratory classroom hours are put into practice the theoretical knowledge from simulation exercises.
At the end of the first month exposed the subject to develop the student (in groups of 3-4)
Método de evaluación
Homework by teams: 80%
Laboratory simulations: 20%
Bibliografía
Básica:
-
Slides "on-line" -
OLLER, Albert,
Capacidades previas
Some knowledge about mobile robots
Some knowledge about computer vision
Some knowledge about agents