COURSE: SPRING 2021 ABE 424/ ECE 498
Principles of Mobile Robotics
Announcements:
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Schedule
This is tentative and may subject to change
Class no | Date | Topic in class | Problem Set | |
1 | 1/26/21 | M1 | Welcome and field robot demos | |
2 | 1/28/21 | Welcome and Introduction to field robotics | ||
3 | 2/2/21 | Preliminaries: Applications of linear algebra | PSET 1 out | |
4 | 2/4/21 | Preliminaries: Linear controllers and observers | ||
5 | 2/9/21 | Introduction to Quaternions | ||
6 | 2/11/21 | Coordinate frames | ||
7 | 2/16/21 | Quaternions | ||
8 | 2/18/21 | M2 | Holonomic vs non-holonomic dynamics | |
9 | 2/23/21 | Deriving equations of motion of quadrotor | PSET 1 in | |
10 | 2/25/21 | Equations of motion of fixed wing aircraft | PSET 2 out | |
11 | 3/2/21 | GPS | ||
12 | 3/4/21 | GPS INS | ||
13 | 3/9/21 | LIDAR | ||
14 | 3/11/21 | Mid-Term Test 1 | ||
15 | 3/16/21 | M3 | Introduction to KFs | PSET 2 in |
16 | 3/18/21 | Introduction to KFs | ||
17 | 3/23/21 | Introduction to KFs | ||
18 | 3/25/21 | Inertial Sensors | PSET 3 out | |
3/30/21 | GPS-INS sensor fusion: EKF formulation | |||
4/1/21 | GPS-INS sensor fusion: EKF formulation | |||
19 | 4/6/21 | Integrating other sensors in the EKF framework | ||
20 | 4/8/21 | M4 | Integrating other sensors in the EKF framework | |
21 | 4/13/21 | No Lecture (Instruction break) | ||
22 | 4/15/21 | SLAM | PSET 3 in | |
23 | 4/20/21 | SLAM | ||
24 | 4/22/21 | Mid-Term Test 2 | ||
25 | 4/27/21 | Motion control of wheeled robot | PSET 4 out | |
26 | 4/29/21 | Mission planning and control | ||
27 | 5/4/21 | Final lecture |
Lab no | |||
1/27/21 | No lab | ||
2/3/21 | L1 | Lab 1 intro | |
2/10/21 | Understanding Drones and ground robot systems | ||
2/17/21 | No Lab (Instruction break) | ||
2/24/21 | Processing of data from the drone flights | ||
3/3/21 | L2 | Lab 2 intro | |
3/10/21 | LIDAR data collection and analysis | ||
3/17/21 | LIDAR data collection and analysis | ||
3/24/21 | No lab (Instruction break) | ||
3/31/21 | L3 | GPS-INS fusion introduction | |
4/7/21 | Coding workshop | ||
4/14/21 | Coding workshop | ||
4/21/21 | L4 | LIDAR SLAM | |
4/28/21 | Coding workshop | ||
5/5/21 | Coding workshop |