Lecture Slides

In combination with the online textbook, the course relies on a set of slides to support the lectures. Those will be progressively uploaded before each class and can be found below.
Lecture 1: Introduction
Lecture 2: Coordinate Frames
Lecture 3: Micro Aerial Vehicle Dynamics
errata: corrected equations - slides 24,25,26 
Lecture 5&6: Navigation Sensors
  
Lecture 9: Kalman Coding Examples
Lecture 11: PID Flight Control
Lecture 13: LQR Design Examples
Advanced Study:​
AIRobots Coaxial Helicopter Simulator and System Identification Lecture
Lecture 15: Midterm Exam Preparation
*errata: corrected equation of control allocation matrix - slides 19,20,21
Lecture 17: Robot Motion Planning Introduction
Lecture 19: Inspection Path Planning
Download the relevant papers
Lecture 21: Motion Planning Recap
Lecture 23: Course Recap
Lecture 23: Course Recap - 2
Further examples from online resources:
[t e s t ] [t e s t] [t​  e  s t]
Additional Course Modules 2018
    Final Exam 2016
    Download the final exam of year 2016. 
    Tutorial on Rotation representations. [Download]
    A primer on the calculus of 3D rotations [Download]
    Lecture 4: MAV Dynamics Recap
    errata: corrected equations - slides 34,45,36,37
    Lecture 7&8: State Estimation
    Contains recap of theory of probabilities, Bayes filter and the Kalman Filter.
    Lecture 10: Flight Controls Introduction
    Lecture 12: LQR Flight Control
    Python LQR Implementation: click here
     
    Lecture 16: Autopilot Study
     
    Lecture 18: Sampling-based Motion Planning
    Lecture 20: Autonomous Exploration Path Planning
    Download the relevant papers
    Additional material for Flight Control Systems:
















    ​
    Control Exercise Example
    Further examples from online resources: