HARBOUR.SPACE
HARBOUR.SPACE UNIVERSITY
All rights reserved. 2018
MOBILE ROBOTICS
This course covers the general topics of mobile robotics, from perception to planning and execution.
In terms of perception, we will learn about different sensor modalities relevant to motion and mapping. We will also learn how to localize the robot and create maps of its environment.
On the planning side, we will discover a few algorithms that will allow the robot to solve for a feasible trajectory to reach a certain point B from point A, taking care of the constraints imposed by the environment.
The planned trajectory will have to be executed. At times, unexpected obstacles will be in its way, and the robot has to act reactively.
These topics will be covered through a practical project where the students will fully program a small mobile robot.
The course will finish with a complete demonstration of the robot’s capabilities as they were implemented by the students.
JOAN SOLA
DATE: 17 Feb – 6 Mar, 2020
DURATION: 3 Weeks
LECTURES: 3 Hours per day
LANGUAGE: English
LOCATION: Barcelona, Harbour.Space Campus
COURSE TYPE: Offline
MOBILE ROBOTICS
This course covers the general topics of mobile robotics, from perception to planning and execution.
In terms of perception, we will learn about different sensor modalities relevant to motion and mapping. We will also learn how to localize the robot and create maps of its environment.
On the planning side, we will discover a few algorithms that will allow the robot to solve for a feasible trajectory to reach a certain point B from point A, taking care of the constraints imposed by the environment.
The planned trajectory will have to be executed. At times, unexpected obstacles will be in its way, and the robot has to act reactively.
These topics will be covered through a practical project where the students will fully program a small mobile robot.
The course will finish with a complete demonstration of the robot’s capabilities as they were implemented by the students.
- To have a general overview of the sensors used in mobile robotics.
- To learn how to localize the robot in the environment, and how to create maps of this environment.
- To learn how to plan a trajectory in this environment.
- To learn how to execute this trajectory.
- To learn how to organize robot capacities in a well-designed software architecture.
DATE: 17 Feb - 6 Mar, 2020
DURATION: 3 Weeks
LECTURES: 3 Hours per day
LANGUAGE: English
LOCATION: Barcelona, Harbour.Space Campus
COURSE TYPE: Offline
WHAT YOU WILL LEARN
COURSE OUTLINE
Session 2
Practice
The turtle3 burger robot
ROS and other necessary libraries
Session 3
Theory
Sensor models
Noise and uncertainty
Session 1
Theory
Presentation, motivation, organization
A brief on sensor modalities
Session 4
Practice
Software architecture
Creating the ROS nodes’ skeletons
Research professional with experience in several disciplines, like deepwater manned submarines, computer vision, robotics, control systems, analog and power electronics and renewable energies. With a good engineering and mathematics formation, I am also very intuitive and especially like the difficult problems. Looking back, I see that I like to change the major axes of my research activity every X years, with 3 < X < 8. This keeps me motivated while it allows me to broaden my fields of knowledge and expertise. My primary goals are always related to knowledge and to participate in challenging civil projects. In this direction, I would like to get involved in planetary exploration, on one side, and humanoid robotics on the other side. Time will tell if I can manage doing both of them. In 2007 I joined a small team at Ictineu Submarins with the aim of building a civil submersible for 3 people and 1200m depth, Ictineu3. Indeed, a submarine is the closest thing to a spacecraft one can imagine on Earth. And I made a small collaboration with isardSAT, in the field of planetary observation from satellite-based radar altimeters. In 2013 I obtained a Ramon y Cajal research grant which will allow me to pursue research in Robotics, which I do at the Institut de Robòtica Industrial de Barcelona. My research is on sensor fusion and state estimation for wheeled, legged and aerial robots -- among which, humanoids.
Specialties: Computer vision; Simultaneous Localization and Mapping; Estimation and sensor fusion; Control systems; robotic systems; Renewable energies, energy in general; electricity and electronics, especially analog and power electronics; Deep-water (over 1000m) submarine technology. Special batteries for electric vehicles. Lithium batteries for deep-water submarines.
SKILLS:
- Research
- Engineering
- Mathematics
- Assistive devices
- Research
- Haptics
- Kinematic
ABOUT JOAN
BIBLIOGRAPHY