42038 - Cooperative Robotics (RC) [URV]

Type: S3 Course
Semester: Spring
ECTS: 4.5
Teaching Points:
Offer: Annual
Responsible Unit: URV
Responsible: Albert Oller
Language: English
Requirements:

GOALS

This course aims at studying the techniques for intelligent coordination of teams of mobile robots and their most relevant application areas.

CONTENTS

1. Multirobot self-localization

SLAM, Simultaneous localization and mapping, probabilistic methods, particle filters, perception-based methods, distributed SLAM.

2. Cooperative exploration and perception

Coordinated exploration of unknown environments, map generation, generation of three-dimensional models.

3. Multirobot task coordination

Explicit and emergent task assignment, robot swarms, optimal assignment problem, combinatorial auctions, ALLIANCE, BLE, M+, dynamic role assignment.

4. Dynamic physical systems

Multiagent systems, physical and logical agents, dynamic physical agents, physical body dynamics, declarative control level, declarative supervision level, planning, learning.

5. Cooperation architectures

Subsumption architecture, swarms, MetaMorph, INTERRAP, ALLIANCE, DPA2.