{"id":699,"date":"2015-12-30T09:40:35","date_gmt":"2015-12-30T11:40:35","guid":{"rendered":"http:\/\/www.inf.ufrgs.br\/profcomp_wp\/?page_id=699"},"modified":"2016-05-12T16:03:57","modified_gmt":"2016-05-12T19:03:57","slug":"cmp545","status":"publish","type":"page","link":"https:\/\/www.inf.ufrgs.br\/profcomp\/lista-de-disciplinas\/cmp545\/","title":{"rendered":"CMP545"},"content":{"rendered":"

T\u00f3picos Especias em Computa\u00e7\u00e3o DXLV: Introdu\u00e7\u00e3o \u00e0 Rob\u00f3tica M\u00f3vel<\/strong><\/h3>\n

Respons\u00e1vel<\/b>: Edson Prestes e Silva Junior<\/a>
\nPr\u00e9-Requisitos<\/b>: INF05512 recomendado p\/ graduandos
\nCarga Hor\u00e1ria<\/b>: 60 hs
\nCr\u00e9ditos<\/b>: 4
\nSemestres Oferecidos<\/b>: Primeiro semestre
\nMatr\u00edcula de Graduandos<\/b>: A matricula dever\u00e1 ser feita como Aluno Especial
\nP\u00e1gina da Disciplina<\/b>: –<\/p>\n

S\u00daMULA<\/strong><\/p>\n

Estudos de t\u00f3picos relacionados \u00e0 \u00e1rea de rob\u00f3tica m\u00f3vel aut\u00f4noma: constru\u00e7\u00e3o de mapas, planejamento de caminhos, auto-localiza\u00e7\u00e3o, SLAM e explora\u00e7\u00e3o de ambientes.<\/p>\n

OBJETIVOS<\/strong><\/p>\n

Esta disciplina objetiva apresentar (i) o estado da arte na \u00e1rea de rob\u00f3tica m\u00f3vel, (ii) os conceitos b\u00e1sicos de movimenta\u00e7\u00e3o e sensores, (iii) t\u00e9cnicas usadas na constru\u00e7\u00e3o e representa\u00e7\u00e3o de mapas de ambientes internos, (iv) t\u00e9cnicas na \u00e1rea de auto-localiza\u00e7\u00e3o e mapeamento de ambientes, (v) t\u00e9cnicas de planejamento de moviment o em ambients internos.<\/p>\n

PROGRAMA<\/strong><\/p>\n

1. Estado da arte na \u00e1rea da rob\u00f3tica locomo\u00e7\u00e3o e cinem\u00e1tica;
\n2. Percep\u00e7\u00e3o – sensores extereoceptivos e proprioceptivos;
\n3. Representa\u00e7\u00e3o de ambientes: mapas geom\u00e9tricos, topol\u00f3gicos e sem\u00e2nticos;
\n4. Planejamento de Caminhos: A*, D*, Trulla, campos potenciais, etc.;
\n5. Estrat\u00e9gias de Auto-Localiza\u00e7\u00e3o;
\n6. SLAM;
\n7. Explora\u00e7\u00e3o de Ambientes Desconhecidos;<\/p>\n

CRIT\u00c9RIOS DE AVALIA\u00c7\u00c3O<\/strong><\/p>\n

Participa\u00e7ao em aula, semin\u00e1rio e implementa\u00e7\u00e3o.<\/p>\n

BIBLIOGRAFIA<\/strong><\/p>\n

\u2022 Mckerrow, P. J. Introduction to Robotics. Addison Wesley, 1995.
\n\u2022 Borenstein, J.; Everett, H. R.; Feng, L. Navigating Mobile Robots: Sensors and Techniques. http:\/\/www-personal.umich .edu\/ -j ohann b\/ shared\/pos96rep. pdf
\n\u2022 Siegwart, R. Nourbakhsh, I. R. Introduction to Autonomous Mobile Robots. MIT Press, 2004.
\n\u2022 Thrun, S.; Wolfram, B.; Fox, D. Probabilistic Robotics (Intelligent Robotics and Autonomous Agents, MIT Press, 2005.
\n\u2022 Silva Jr. E. P. Navega\u00e7\u00e3o Explorat\u00f3ria baseada em Problemas de Valores de Contorno, Tese de Doutorado, UFRGS, 2003.<\/p>\n

Artigos das seguintes revistas<\/p>\n

\u2022 IEEE Transactions on Robotics
\n\u2022 Robotics and Autonornous Systerns
\n\u2022 Joumal of Intelligent and Robotic Systerns Autonornous Robots, etc.<\/p>\n

Artigos das confer\u00eancias<\/p>\n

\u2022 IEEE\/RSJ Intemational Conference on Intelligent Robots and Systerns (IEEE\/RSJ IROS)
\n\u2022 IEEE Intemational Conference on Robotics and Autornation (IEEE ICRA)<\/p>\n","protected":false},"excerpt":{"rendered":"

T\u00f3picos Especias em Computa\u00e7\u00e3o DXLV: Introdu\u00e7\u00e3o \u00e0 Rob\u00f3tica M\u00f3vel Respons\u00e1vel: Edson Prestes e Silva Junior Pr\u00e9-Requisitos: INF05512 recomendado p\/ graduandos Carga Hor\u00e1ria: 60 hs Cr\u00e9ditos: 4 Semestres Oferecidos: Primeiro semestre Matr\u00edcula de Graduandos: A matricula dever\u00e1 ser feita como Aluno Especial P\u00e1gina da Disciplina: – S\u00daMULA Estudos de t\u00f3picos relacionados \u00e0 \u00e1rea de rob\u00f3tica m\u00f3vel […]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":462,"menu_order":545,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"_links":{"self":[{"href":"https:\/\/www.inf.ufrgs.br\/profcomp\/wp-json\/wp\/v2\/pages\/699"}],"collection":[{"href":"https:\/\/www.inf.ufrgs.br\/profcomp\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.inf.ufrgs.br\/profcomp\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.inf.ufrgs.br\/profcomp\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.inf.ufrgs.br\/profcomp\/wp-json\/wp\/v2\/comments?post=699"}],"version-history":[{"count":5,"href":"https:\/\/www.inf.ufrgs.br\/profcomp\/wp-json\/wp\/v2\/pages\/699\/revisions"}],"predecessor-version":[{"id":2498,"href":"https:\/\/www.inf.ufrgs.br\/profcomp\/wp-json\/wp\/v2\/pages\/699\/revisions\/2498"}],"up":[{"embeddable":true,"href":"https:\/\/www.inf.ufrgs.br\/profcomp\/wp-json\/wp\/v2\/pages\/462"}],"wp:attachment":[{"href":"https:\/\/www.inf.ufrgs.br\/profcomp\/wp-json\/wp\/v2\/media?parent=699"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}