Robotics: Aerial Robotics

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Robotics: Aerial Robotics

Coursera (CC)
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About this course: How can we create agile micro aerial vehicles that are able to operate autonomously in cluttered indoor and outdoor environments? You will gain an introduction to the mechanics of flight and the design of quadrotor flying robots and will be able to develop dynamic models, derive controllers, and synthesize planners for operating in three dimensional environments. You will be exposed to the challenges of using noisy sensors for localization and maneuvering in complex, three-dimensional environments. Finally, you will gain insights through seeing real world examples of the possible applications and challenges for the rapidly-growing drone industry. Mathematical prerequi…

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When you enroll for courses through Coursera you get to choose for a paid plan or for a free plan

  • Free plan: No certicification and/or audit only. You will have access to all course materials except graded items.
  • Paid plan: Commit to earning a Certificate—it's a trusted, shareable way to showcase your new skills.

About this course: How can we create agile micro aerial vehicles that are able to operate autonomously in cluttered indoor and outdoor environments? You will gain an introduction to the mechanics of flight and the design of quadrotor flying robots and will be able to develop dynamic models, derive controllers, and synthesize planners for operating in three dimensional environments. You will be exposed to the challenges of using noisy sensors for localization and maneuvering in complex, three-dimensional environments. Finally, you will gain insights through seeing real world examples of the possible applications and challenges for the rapidly-growing drone industry. Mathematical prerequisites: Students taking this course are expected to have some familiarity with linear algebra, single variable calculus, and differential equations. Programming prerequisites: Some experience programming with MATLAB or Octave is recommended (we will use MATLAB in this course.) MATLAB will require the use of a 64-bit computer.

Created by:  University of Pennsylvania
  • Taught by:  Vijay Kumar, Nemirovsky Family Dean of Penn Engineering and Professor of Mechanical Engineering and Applied Mechanics

    School of Engineering and Applied Science
Basic Info Course 1 of 6 in the Robotics Specialization Language English How To Pass Pass all graded assignments to complete the course. User Ratings 4.5 stars Average User Rating 4.5See what learners said Задания курса

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University of Pennsylvania The University of Pennsylvania (commonly referred to as Penn) is a private university, located in Philadelphia, Pennsylvania, United States. A member of the Ivy League, Penn is the fourth-oldest institution of higher education in the United States, and considers itself to be the first university in the United States with both undergraduate and graduate studies.

Syllabus


WEEK 1


Introduction to Aerial Robotics



Welcome to Week 1! In this week, you will be introduced to the exciting field of Unmanned Aerial Robotics (UAVs) and quadrotors in particular. You will learn about their basic mechanics and control strategies and realize how careful component selection and design affect the vehicles' performance. This week also provides you with instructions on how to download and install Matlab. This software will be used throughout this course in exercises and assignments, so it is strongly recommended to familiarize yourself with Matlab soon. Tutorials to help you get started are also provided in this week.


16 videos, 4 readings expand


  1. Video: Unmanned Aerial Vehicles
  2. Video: Quadrotors
  3. Video: Key Components of Autonomous Flight
  4. Video: State Estimation
  5. Video: Applications
  6. Video: Meet the TAs
  7. Материал для самостоятельного изучения: Setting up your Matlab programming environment
  8. Материал для самостоятельного изучения: Matlab Tutorials - Introduction to the Matlab Environment
  9. Материал для самостоятельного изучения: Matlab Tutorials - Programming Basics
  10. Материал для самостоятельного изучения: Matlab Tutorials - Advanced Tools
  11. Video: Basic Mechanics
  12. Video: Dynamics and 1-D Linear Control
  13. Video: Design Considerations
  14. Video: Design Considerations (continued)
  15. Video: Agility and Maneuverability
  16. Video: Component Selection
  17. Video: Effects of Size
  18. Video: Supplementary Material: Introduction
  19. Video: Supplementary Material: Dynamical Systems
  20. Video: Supplementary Material: Rates of Convergence

Graded: 1.1
Graded: 1.2

WEEK 2


Geometry and Mechanics



Welcome to Week 2 of the Robotics: Aerial Robotics course! We hope you are having a good time and learning a lot already! In this week, we will first focus on the kinematics of quadrotors. Then, you will learn how to derive the dynamic equations of motion for quadrotors. To build a better understanding on these notions, some essential mathematical tools are discussed in supplementary material lectures. In this week, you will also complete your first programming assignment on 1-D quadrotor control. If you have not done so already, please download, install, and learn about Matlab before starting the assignment.


19 videos expand


  1. Video: Transformations
  2. Video: Rotations
  3. Video: Euler Angles
  4. Video: Axis/Angle Representations for Rotations
  5. Video: Angular Velocity
  6. Video: Supplementary Material: Rigid-Body Displacements
  7. Video: Supplementary Material: Properties of Functions
  8. Video: Supplementary Material: Symbolic Calculations in Matlab
  9. Video: Supplementary Material: The atan2 Function
  10. Video: Supplementary Material: Eigenvalues and Eigenvectors of Matrices
  11. Video: Supplementary Material: Quaternions
  12. Video: Supplementary Material: Matrix Derivative
  13. Video: Supplementary Material: Skew-Symmetric Matrices and the Hat Operator
  14. Video: Formulation
  15. Video: Newton-Euler Equations
  16. Video: Principal Axes and Principal Moments of Inertia
  17. Video: Quadrotor Equations of Motion
  18. Video: Supplementary Material: State-Space Form
  19. Video: Supplementary Material: Getting Started With the First Programming Assignment

Graded: 2.1
Graded: 1-D Quadrotor Control

WEEK 3


Planning and Control



Welcome to Week 3! We have developed planar and three-dimensional dynamic models of the quadrotor. This week, you will learn more about how to develop linear controllers for these models. With this knowledge, you will be required to complete the second programming assignment of this course, which focuses on controlling the quadrotor in two dimensions. We encourage you to start working on the assignment soon. This week ends with a discussion on motion planning for quadrotors.


9 videos expand


  1. Video: 2-D Quadrotor Control
  2. Video: 3-D Quadrotor Control
  3. Video: Time, Motion, and Trajectories
  4. Video: Time, Motion, and Trajectories (continued)
  5. Video: Motion Planning for Quadrotors
  6. Video: Supplementary Material: Minimum Velocity Trajectories from the Euler-Lagrange Equations
  7. Video: Supplementary Material: Solving for Coefficients of Minimum Jerk Trajectories
  8. Video: Supplementary Material: Minimum Velocity Trajectories
  9. Video: Supplementary Material: Linearization of Quadrotor Equations of Motion

Graded: 2-D Quadrotor Control
Graded: 3

WEEK 4


Advanced Topics



Welcome to Week 4! So far, we have gone over the basics of developing linear controllers for quadrotors and motion planning. In this last week of the course, we will discuss some more advanced material on how to enable quadrotors to perform more agile maneuvers and to operate autonomously in teams. Note that the last programming assignment on quadrotor control in three dimensions uses material from the previous weeks. It is strongly recommended to start the assignment as soon as possible.


5 videos expand


  1. Video: Sensing and Estimation
  2. Video: Nonlinear Control
  3. Video: Control of Multiple Robots
  4. Video: Adjourn
  5. Video: Supplementary Material: Introduction to the Motion Capture System by Matthew Turpin

Graded: 4
Graded: 3-D Quadrotor Control
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