CRA335 Collaborative Robotics Syllabus:

CRA335 Collaborative Robotics Syllabus – Anna University Regulation 2021

COURSE OBJECTIVES:

1. To know the fundamentals of Collaborative Robotics
2. To introduce Swarm robot and trajectory planning for Swarm
3. To introduce Modular Robotics and its Mechanics
4. To learn about various Natural models of robot collaboration
5. To introduce the concept of Reconfigurable robot

UNIT – I INTRODUCTION TO COBOTICS

Collaborative Robotics- Properties – Introduction to Modern Mobile Robots: Swarm Robots, Cooperative and Collaborative Robots, Mobile Robot Manipulators-Current Challenges.

UNIT – II SWARM ROBOTICS

Introduction, mapping, kinematics and trajectory error compensation, state transitions, collective decision making and methodologies, swarm robot scenarios-aggregation, clustering dispersion, pattern formation, sorting, flocking and collective motion, shepherding, heterogeneous swarms, Error Detection and Security.

UNIT – III MODULAR ROBOTICS

Module Designs – Modular Robot Representation -Modular Serial Robot Kinematics – Kinematic Calibration for Modular Serial Robots- Modular Serial Robot Dynamics – Modular Parallel Robot Kinematics

UNIT – IV NATURALLY INSPIRED COLLABORATION

Collective Decision-Making. Group Decision Making in Animals, Collective Motion as Decision Process, Models for Collective Decision-Making Processes, Urn Models, Voter Model ,Majority Rule , Hegselmann and Krause , Kuramoto Model , Axelrod Model, Ising Model, Fiber Bundle Model, Sznajd Model, Bass Diffusion Model, Sociophysics and Contrarians.

UNIT – V RECONFIGURABLE ROBOTS

V-Shaped Formation Control for Robotic Swarms Constrained by Field of View – formation of reconfigurable virtual linkage – Reconfigurable Formation Control of Multi-Agents – Self Assembly Modular Robot Platform Based on Sambot – Swarm Dynamics Emerging from Asymmetry.

TOTAL: 45 PERIODS

COURSE OUTCOMES

Upon successful completion of the course, students should be able to:
CO1: Recognize the fundamentals of Collaborative Robotics
CO2: Apply Swarm robots technology in real time applications
CO3: Analyze and select the suitable concept of Modular Robotics and its Mechanics for modelling a collaborative robot
CO4: Create various Natural models for robot collaboration
CO5: Develop collaborative robots for various requirement in industrial tasks.

TEXT BOOKS

1. Guilin Yang, I-Ming Chen, “Modular Robots: Theory and Practice”, Springer, 2022.
2. GiandomenicoSpezzano, “Swarm Robotics”, Applied Sciences, MDPI, 2019.

REFERENCE

1. Heiko Hamann, “Collective Decision-Making in Swarm Robotics: A Formal Approach”, Springer, 2019.