AuRo - RoboPI

INSTRUCTOR and TA

Md Jahidul Islam. Office Hours: Thursday 4:00 PM - 5:00 PM. @LAR-339D.
Lecture: M/W/F 3:00PM-3:50PM @LAR-330
TA: Boxiao Yu. Office Hours: Tuesday 3:00 PM - 4:00 PM. @NEB-222.

COURSE PREREQUISITES

Microprocessor Applications or embedded systems or equivalent courses
Fluent in object-oriented programming (Python and/or C++)
Basics of linear algebra and calculus

Textbooks

Introduction to Robotics: Mechanics and Control (Pearson; 4th Edition).
By John Craig. ISBN-13: 978-0133489798. Pearson; 4th edition.

Probabilistic Robotics (Int. Robotics & Autonomous Agents series; 1st Edition).
By Sebastian Thrun, Wolfram Burgard and Dieter Fox.
ISBN-13: 978-0262201629, ISBN-10: 0262201623.

PROVIDED MATERIALS

RECOMMENDED MATERIALS

Lecture Topics

Lecture #1 Introduction: Outline & Logistics.
Lecture #2 User interface, Integration, Middleware
- ROS/ROS2 and OpenCV.
Lecture #3 Spatial Descriptions and Transformations.
- Rotation: Homogeneous, XYZ and Euler Rotation.
- Rodrigues Rotation and Quaternion Space.
Lecture #4 Kinematics: Manipulators and UGVs.
- Manipulator Kinematics: DH notation.
- TurtleBot Kinematics.
Lecture #5 Locomotion: UGVs / AUVs / UAVs.
- Motion Gaits: 2-DOF, 3-DOF, and 6-DOF.
- Quaternion: Rotation Space and SLERP Interpolation.
Lecture #6 Robot Perception: UGVs / AUVs / UAVs.
- Camera model: intrinsic and extrinsics.
- Homography estimation.
- Stereo cameras: epipolar geometry.
- SfM: Structure from Motion Pipeline.
Lecture #7 Localization and Odometry.
- Image Processing and Filtering.
- Stereo Vision and 3D Geometry.
Lecture #8 Inverse Kinematics.
- Dynamic Programming and SOTA Planners.
- Adaptation: UGVs / AUVs / UUVs.
Lecture #9 Filtering and State Estimation.
- Probabilistic filtering concepts.
- State estimation and planning under uncertainity.
- Kalman Filtering (KF), extended KF, unscented KF.
- Feedback controllers: PID.
Lecture #10 Path Planning Algorithms.
- Map-based planners: Bug0, Bug1.
- Graph-based algorithms: BFS, DFS, Dijkstra, A*.
- Sampling-based algorithms: PRM, RRT, RRT*.
- Target-centric planners.