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Autonomous Robotics
 
12h L / 1 OE / 2 ECTS credits in common with IIC_AIA2 and IIC_AIA3 / IIC_AIA1
 
Rachid ALAMI
 
This course is aimed to be an introduction to autonomous robotics. We will review the various robot functions and how they can be integrated in a complete robot system. We will essentially focus on the modelling an algorithmic ingredients that allow a robot to reason about its tasks, its environment and its own abilities. The course will use several case studies as an illustration advanced robotics.
 
Autonomous robots
 
The main robot functions:
Perception, Motion, Decision, Learning, Communication/Interaction
Perception and environment modeling :
Sensors, perception et 3D modeling. Navigation; SimultanOEus Localisation and Mapping (SLAM).
Motion Planning :
The Configuration Space. Algorithms for motion planners.
From perception to motion :
Motion, execution and sensori-motor functions.
Decision:
Reasoning and action representation; planning. Architectures. Multi-robot cooperation and coordination. Human-robot interaction.
 
 
 
 
References
J.C. Latombe, Robot Motion Planning, Kluwer Academic Publishers, Boston, MA, 1991
Steven Lavalle, Planning Algorithms, Cambridge University Press, 2006
M. Ghallab, D. Nau, P. Traverso, Automated Planning Theory and Practice Morgan Kaufmann Publishers (2004).