Universitat Politècnica de Catalunya · BarcelonaTech

Marine Instrumentation, Robotics and Power Systems (250588) – Course 2025/26 PDF

Contents

Introduction to the fundamental problems faced by a mobile marine robot while moving in its environment. Questions and challenges are presented throughout the four blocks of the see-think-act cycle: Movement / locomotion control Perception Location Route planning

Dedication

2h Large group + 2h 48m Self Study
Total: 4h 48m

Actuators/Motors Sensors Computing/Communication Energy Marine robot hardware Marine robot hardware

Dedication

2h Large group + 2h Medium group + 2h Laboratory classes + 8h 23m Self Study
Total: 14h 23m

Basic kinematic concepts such as rotations, translations and homogeneous transformations of multibody systems. Direct kinematics Indirect kinematics Modeling underwater robots with wheels (crawler) Kinematics of mobile robots Kinematics of mobile robots

Dedication

2h Large group + 2h Medium group + 2h Laboratory classes + 8h 23m Self Study
Total: 14h 23m

Sensors - Introduction to perception and the sensors most used in mobile marine robotics. Robot vision - Applications and challenges of computer vision. Detection, recognition and position of an object. Image processing - Discovering important (highlighted) regions in an image: basic filtering operations on an image using filtering to detect edges and points in an image place recognition Perception Perception

Dedication

6h Large group + 2h Medium group + 6h Laboratory classes + 19h 36m Self Study
Total: 33h 36m

Map-based location Markov technique for map location Kalman filter technique for map location Location

Dedication

4h Large group + 4h Laboratory classes + 11h 12m Self Study
Total: 19h 12m

Estimation of the position of a mobile sea robot and the map of the environment at the same time Determine the given location a map Determine a map of given locations Visual SLAM and SLAM using a single camera in particular Simultaneous mapping and location - SLAM

Dedication

4h Large group + 4h Laboratory classes + 11h 12m Self Study
Total: 19h 12m

Calculate the optimal route taking into account possible uncertainties in the actions. Generate actions quickly in the case of unforeseen objects Route planning

Dedication

4h Large group + 2h Laboratory classes + 8h 23m Self Study
Total: 14h 23m

Applications and challenges of exploration with multiple mobile marine robots Control multiple robots to learn and explore a map efficiently Marine exploration through multiple mobile sea robots

Dedication

4h Large group + 6h Laboratory classes + 14h Self Study
Total: 24h