Multi-Robot Systems

Credits
4.5
Types
Elective
Requirements
This subject has not requirements , but it has got previous capacities
Department
URV;CS
In this subject, the techniques related to multi-robot systems will be studied. Some of these techniques will be applied within a robot's simulator and others in real robots as well.

Teachers

Person in charge

Weekly hours

Theory
1.8
Problems
0
Laboratory
0.9
Guided learning
0
Autonomous learning
4.8

Competences

Generic Technical Competences

Generic

  • CG3 - Capacity for modeling, calculation, simulation, development and implementation in technology and company engineering centers, particularly in research, development and innovation in all areas related to Artificial Intelligence.

    • Technical Competences of each Specialization

    Academic

  • CEA14 - Capability to understand the advanced techniques of Vision, Perception and Robotics, and to know how to design, implement and apply these techniques in the development of intelligent applications, services or systems.

    • Professional

  • CEP3 - Capacity for applying Artificial Intelligence techniques in technological and industrial environments to improve quality and productivity.
  • CEP4 - Capability to design, write and report about computer science projects in the specific area of ??Artificial Intelligence.

    • Transversal Competences

    Teamwork

  • CT3 - Ability to work as a member of an interdisciplinary team, as a normal member or performing direction tasks, in order to develop projects with pragmatism and sense of responsibility, making commitments taking into account the available resources.

    • Information literacy

  • CT4 - Capacity for managing the acquisition, the structuring, analysis and visualization of data and information in the field of specialisation, and for critically assessing the results of this management.

    • Appropiate attitude towards work

  • CT5 - Capability to be motivated for professional development, to meet new challenges and for continuous improvement. Capability to work in situations with lack of information.

    • Objectives

    1. Understand some cooperative techniques for locating, exploring and perceiving with multiple robots
      Related competences: CT3, CT4, CT5, CEA14, CEP3, CEP4, CG3,
    2. Understand the limitations of the cooperative techniques in real environments
      Related competences: CT3, CT4, CT5, CEA14, CEP3, CEP4, CG3,

    Contents

    1. Multi-robot auto-localization
      SLAM, probabilistics methods, particle filters, perceptions-based methods
    2. Techniques related to exploration and perception
      Exploration in unknown environments, sensory data management and map generation
    3. Multi-robot tasks coordination
      Task assignment: explicit (Finite-state machines), emergent (behaviour-based), swarms, auctions (market-based, voting)
    4. Dynamical physical systems
      Multi-agent systems: software and logical versus physical ones. Dynamics and capacities.
    5. Multi-robot related Architectures
      Subsumption, Swarms, InteRRap, ALLIANCE, DPA2, others...

    Activities

    Activity Evaluation act


    Development of the theory and simulations


    Objectives: 1 2
    Contents:
    Theory
    27h
    Problems
    0h
    Laboratory
    6h
    Guided learning
    0h
    Autonomous learning
    36h

    Homework by teams, with real robots



    Theory
    0h
    Problems
    0h
    Laboratory
    7.5h
    Guided learning
    0h
    Autonomous learning
    36h

    Teaching methodology

    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)

    Evaluation methodology

    Homework by teams: 80%
    Laboratory simulations: 20%

    Bibliography

    Basic

    • Slides "on-line" - Oller, Albert,

    Previous capacities

    Some knowledge about mobile robots
    Some knowledge about computer vision
    Some knowledge about agents