Introduction
- Course Introduction [printout, quad]
- Introduction to ROS [printout, quad]
(Used with permission from Lorenz Mösenlechner with credit also to Jonathan Bohren and Willow Garage)
Mobility
- Methods of Locomotion [printout, quad]
- Kinematics of Wheeled Robots: Part 1 [inclass, printout, quad]
- Rotation Matrices [inclass, printout, quad]
- Derivation of the Rolling and Sliding Constraints [inclass, printout, quad]
- Kinematics of Wheeled Robots: Part 2 [inclass, printout, quad]
- Kinematics of Wheeled Robots: Part 3 [inclass, printout, quad]
Transforms
- Spatial Transforms [inclass, printout, quad]
- Quaternions [printout, quad]
- Used with permission from Matthew T. Mason of Carnegie Mellon University; These notes come from Dr. Mason’s Mechanics of Manipulation course at CMU
Perception
CUT-OFF FOR MID-TERM EXAM
Localization
- Part 1: Maps, Beliefs, and Probability Review [inclass, printout, quad]
- Part 2: Introduction to Markov Localization [inclass, printout, quad]
- Part 3: Motion and Measurement Models + Grid Localization [inclass, printout, quad]
- Part 4: Monte Carlo Localization [inclass, printout, quad]
- Part 5: Covariance Matrices and the Multivariate Normal Distribution [inclass, printout, quad]
- Part 6: The Kalman Filter [inclass, printout, quad]
- MATLAB source code for Kalman filter examples [zip]. Note that knowledge of MATLAB or the details of this particular code are not required for the final exam.
Planning
- Part 1: Classical Planning [inclass, printout, quad]
- Part 2: Probabilistic Planning [inclass, printout, quad]
Swarm Robotics
- Part 1: Swarm Robotics: Introduction and Tools (Blockly/Waggle) [printout, quad]
- Part 2: Swarm Robotics: Self-Organization, Clustering and Sorting [printout, quad]
- Part 3: Synchronization and Pheromones [printout, quad]
- Part 4: Collective Construction [printout, quad]
- Part 5: Micro/Macro Perspective [printout, quad]
- Part 6: Review of Collective Behaviours [printout, quad]