Project & Assignments
Course Semester Project Topics [in teams of 3-5 students]
Thematic assignments [1-2 students per assignment, each student picks 2 assignments in total]
Assignment 1. Robot Learning: Time-optimal Position Control of Multirotor Vehicles
Assignment 2. State Estimation: EKF, IEKF Implementation
This assignment involves creating iPython notebooks for:
Assignment 3. State Estimation: Lie Theory presentation
Study and present (20min presentation) the following paper:
- Goal: Learn position control policies for multirotor aerial vehicles
- Purpose: This exercise aims to expose students in the procedures involved to learn control policies.
- Set-up the Aerial Gym Simulator
- Set-up rl-games which will be used to train the policy
- Train a position control policy for a quadrotor vehicle or a fully-actuated multirotor as per the provided examples
- https://ntnu-arl.github.io/aerial_gym_simulator/6_rl_training/#train-your-own-position-control-policies
- Modify the reward function to achieve time-optimized position control
- Propose further improvements for time-optimal control
- Provide a short (4-pages max) report on the achieved performance and outline avenues to improve the training quality. Further comment on identified sources of possible sim2real gap.
Assignment 2. State Estimation: EKF, IEKF Implementation
This assignment involves creating iPython notebooks for:
- Implementation of the Extended Kalman Filter for multiple input, multiple output nonlinear systems
- Application of the EKF for 3D free-floating rigid body system (e.g., equations of motion of a quadrotor)
- Implementation of the Iterated Extended Kalman Filter for multiple input, multiple output nonlinear systems
- Application of the IEKF for the same problem as the EKF
Assignment 3. State Estimation: Lie Theory presentation
Study and present (20min presentation) the following paper:
- Sola, J., Deray, J. and Atchuthan, D., 2018. A micro Lie theory for state estimation in robotics. arXiv preprint arXiv:1812.01537. [link]
NB! The course material is currently being added!