Autonomous Robots Lab
  • Home
  • News
  • Research
    • Autonomous Navigation and Exploration
    • Robot Perception
    • Robot Learning
    • Subterranean Robotics
    • Collision-tolerant Aerial Robots
    • Fixed-Wing UAVs
    • Agile and Physical Interaction Control
    • Underwater Autonomy
    • Intelligent Mobility
    • Robotics for Nuclear Sites
    • Autonomous Robots Arena
    • Code
    • Media
    • Research Presentations
    • Projects
  • Publications
  • Group
    • People
    • Research Collaborators
  • Education
    • Introduction to Aerial Robotics >
      • Online Textbook >
        • Modeling >
          • Frame Rotations and Representations
          • Multirotor Dynamics
        • State Estimation >
          • Inertial Sensors
          • Batch Discrete-Time Estimation
          • The Kalman Filter
        • Flight Control >
          • PID Control
          • LQR Control
          • Linear Model Predictive Control
        • Motion Planning >
          • Holonomic Vehicle BVS
          • Dubins Airplane
          • Collision-free Navigation
          • Structural Inspection Path Planning
        • Simulation Tools >
          • Simulations with SimPy
          • MATLAB & Simulink
          • RotorS Simulator >
            • RotorS Simulator Video Examples
      • Lecture Slides
      • Literature and Links
      • RotorS Simulator
      • Student Projects
      • Homework Assignments
      • Independent Study
      • Video Explanations
      • Syllabus
      • Grade Statistics
    • Autonomous Mobile Robot Design >
      • Lecture Slides
      • Semester Projects
      • Code Repository
      • Literature and Links
      • RotorS Simulator
      • Video Explanations
      • Resources for Semester Projects
      • Syllabus
    • Robotics for DDD Applications
    • CS302 - Data Structures
    • Student Projects >
      • Robot Competitions
      • Undergraduate Researchers Needed
      • ConstructionBots - Student Projects
    • EiT TTK4854 - Robotic Ocean Waste Removal
    • Aerial Robotic Autonomy >
      • Breadth Topics
      • Deep-dive Topics
      • Project & Assignments
      • Literature
    • Robotics Seminars
    • Robotics Days
    • Outreach >
      • Drones Demystified! >
        • Lecture Slides
        • Code Repository
        • Video Explanations
        • RotorS Simulator
        • Online Textbook
      • Autonomous Robots Camp >
        • RotorS Simulator
      • Outreach Student Projects
    • BadgerWorks >
      • General Study Links
      • Learn ROS
      • SubT-Edu
  • Resources
    • Autonomous Robots Arena
    • Robot Development Space
  • Contact

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
Picture
Lecture 3: Micro Aerial Vehicle Dynamics
Picture
  • Summary Recap from Lecture 2
  • ​Time Derivatives in 2 Frames
errata: corrected equations - slides 24,25,26 
Lecture 5&6: Navigation Sensors
Picture
  
Lecture 9: Kalman Coding Examples
Picture
Lecture 11: PID Flight Control
Picture
Lecture 13: LQR Design Examples
Picture
Advanced Study:
  • Course on Model Predictive Control by A. Bemporad
​
AIRobots Coaxial Helicopter Simulator and System Identification Lecture
Lecture 15: Midterm Exam Preparation
Picture
*errata: corrected equation of control allocation matrix - slides 19,20,21
Lecture 17: Robot Motion Planning Introduction
Picture
Lecture 19: Inspection Path Planning
Picture
Download the relevant papers
Lecture 21: Motion Planning Recap
Picture
Lecture 23: Course Recap
Picture
Lecture 23: Course Recap - 2
Picture
Further examples from online resources:
  • M. Rubinstein, "Introduction to recursive Bayesian filtering"
  • Pieter Abbeel, "Bayes Filter"  

[t e s t ] [t e s t] [t​  e  s t]
Additional Course Modules 2018
    • The Extended Kalman Filter
    • Camera Calibration
    Final Exam 2016
    Download the final exam of year 2016. 
    Picture
    Tutorial on Rotation representations. [Download]
    A primer on the calculus of 3D rotations [Download]
    Lecture 4: MAV Dynamics Recap
    Picture
    errata: corrected equations - slides 34,45,36,37
    Lecture 7&8: State Estimation
    Picture
    Contains recap of theory of probabilities, Bayes filter and the Kalman Filter.
    Lecture 10: Flight Controls Introduction
    Picture
    Lecture 12: LQR Flight Control
    Picture
    Python LQR Implementation: click here
     
    Lecture 16: Autopilot Study
    Picture
     
    Lecture 18: Sampling-based Motion Planning
    Picture
    Lecture 20: Autonomous Exploration Path Planning
    Picture
    Download the relevant papers
    Additional material for Flight Control Systems:
    • Introductory presentation (based on the link provided below)
    • Online Course

















    ​
    Control Exercise Example
    Picture
    Further examples from online resources:
    • UMICH MATLAB-based example
    • Freiburg university example
    • Caltech lecture
    Proudly powered by Weebly