This article presents a STEAM project, “Sustainable City”, based on educational robotics whose objective is to bring the problems of climate change closer to primary school students. The participants were 30 students (aged 10–11) from 5th year of Primary Education and the project consisted of 14 sessions in which different active methodologies such as project-based learning, collaborative learning and the flipped classroom were carried out. A pre-test and a post-test were carried out and the results were better in the post-test, which indicates that the students improved their skills and increased their motivation. As a conclusion, this STEAM project, which is adapted to the Spanish LOMCE curriculum, can be a reference for other teachers to bring their students closer to the problem of environmental change through educational robotics and the use of active methodologies.

This paper presents a novel technique for implementing Clothoidal real-time paths for mobile robots. As first step, rational Bezier curves are obtained as approximation of the Fresnel integrals. By rescaling, rotating and translating the previously computed RBC, an on-line Clothoidal path is obtained. In this process, coefficients, weights and control points are kept invariant. This on-line approach guarantees that an RBC has the same behavior as the original Clothoid using a low curve order. The resulting Clothoidal path allows any two arbitrary poses to be joined in a plane. RBCs working as Clothoids are also used to search for the shortest bounded-curvature path with a significant computational cost reduction. In addition to this, the proposed technique is tested on a real mobile robot for trajectory generation and kinematic control. To the authors' knowledge, the present approach is the first technique which allows real-time Clothoidal path computation.

The COVID-19 pandemic and its social implications generate adverse psychological effects that affect success in education where educational methodologies are not ready to overcome the problem. This article presents the design and evaluation of a gamification activity, the Escape Room, applied to the subjects in Pharmacy and Nursing. The objective of using the Escape Room is to reduce the impact that COVID-19 has on students’ academic performance due to the psychological effects and the change in educational modality with which the vast majority of activities are carried out online. The Escape Room presented in this article is based on the search for a scientist who is fleeing with the COVID-19 vaccine around the world and the students have to find it by passing tests and missions related to mathematics. Due to the COVID measures imposed by the university, where double presentiality was imposed, the proposed Escape Room has the peculiarity of being designed in dual format, that is, allowing students to connect in face-to-face mode, online, or a mixture of both, depending on the maximum capacity of the classroom, the number of positive cases in the group, quarantines, etc. As a result, a great impact is shown on the initial perception of students towards mathematics and a null impact of the COVID-19 effect on the academic performance of students.

This paper explains a fast overtaking algorithm for IVHS based on clothoidal trajectories. In spite of the fact that clothoidal trajectory generation requires complicated computation of Fresnel integrals, in this paper, an on-line clothoidal path is obtained just by scaling a general parametric curve. This is based on a general offline approximation of the Fresnel integrals into rational Bezier curves (RBC) which are later used in the generation of on-line clothoidal paths. In addition, in order to obtain a fast algorithm, a new methodology to approximate the Fresnel integrals into RBC is proposed. This approach guarantees that the resulting curve has the same behavior than the clothoid. In particular for overtaking maneuvers, a clothoidal path composed of two equal elementary paths is generated. Each one constructed joining two piecewise identical clothoids. A 3D simulation environment has been used for testing the trajectory generation algorithm described in the paper. As can be seen, the obstacle avoidance module generates free-collision intermediate positions which are reached by clothoidal paths.