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Robotic Mapping and Trajectory Generation

Robotic Mapping and Trajectory Generation

This course is part of Introduction to Robotics with Webots Specialization

Instructor: Nikolaus Correll

2,707 already enrolled

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5 modules

Gain insight into a topic and learn the fundamentals.

14 reviews

Intermediate level

Recommended experience

Flexible schedule

3 weeks at 10 hours a week

Learn at your own pace

Build toward a degree

Learn more

5 modules

Gain insight into a topic and learn the fundamentals.

14 reviews

Intermediate level

Recommended experience

Flexible schedule

3 weeks at 10 hours a week

Learn at your own pace

Build toward a degree

Learn more

What you'll learn

Use basic feedback control techniques for inverse kinematics of (non-)Holonomic mechanisms.
Apply coordinate transforms to multi-dimensional sensor signals.
Understand basic probabilistic representations to deal with uncertainty from measurement noise.

Skills you'll gain

Tools you'll learn

Python Programming

Details to know

Shareable certificate

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Assessments

14 assignments

Taught in English

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This course is part of the Introduction to Robotics with Webots Specialization

When you enroll in this course, you'll also be enrolled in this Specialization.

Learn new concepts from industry experts
Gain a foundational understanding of a subject or tool
Develop job-relevant skills with hands-on projects
Earn a shareable career certificate

There are 5 modules in this course

In this second course of the Introduction to Robotics specialization, "Robotic Mapping and Trajectory Generation", you will learn how to perform basic inverse kinematics of (non-)holonomic systems using a feedback control approach. You will also learn how to process multi-dimensional sensor signals such as laser range scanners for mapping. Additionally, you will apply the overarching focus of mechanisms and sensors as sources of uncertainty and gain techniques to how to model and control them.

It is recommended that you complete the first course of this specialization, “Introduction to Robotics: Basic Behaviors”, before beginning this one. This course can be taken for academic credit as part of CU Boulder’s MS in Computer Science degrees offered on the Coursera platform. These fully accredited graduate degrees offer targeted courses, short 8-week sessions, and pay-as-you-go tuition. Admission is based on performance in three preliminary courses, not academic history. CU degrees on Coursera are ideal for recent graduates or working professionals. Learn more: MS in Computer Science: https://coursera.org/degrees/ms-computer-science-boulder

Module details

Welcome to Robotic Mapping and Trajectory Generation. In this first week of the course, you will get started by being introduced to the class of "range finder" devices, which have important applications in mapping, as well as the concept of homogeneous transforms to perform coordinate transformations.

What's included

8 videos8 readings5 assignments1 discussion prompt

8 videosTotal 61 minutes

Introduction to the Specialization2 minutes
Meet the Instructor2 minutes
Introduction to "Robotic Mapping and Trajectory Generation"1 minute
Range Finders and Homogeneous Transforms20 minutes
Set Up a Range Finder in Webots7 minutes
Range Sensing5 minutes
Transforming 1D-Range Images into World Coordinates13 minutes
Homogeneous Transforms11 minutes

8 readingsTotal 66 minutes

Course Updates and Accessibility Support1 minute
Earn Academic Credit for your Work!10 minutes
Course Support10 minutes
Assessment Expectations10 minutes
AI Citation and Acknowledgement10 minutes
Course Activities5 minutes
Laser Range Finders10 minutes
About Homogeneous Transforms10 minutes

5 assignmentsTotal 160 minutes

Homogeneous Transforms Practice20 minutes
AI Policy Quiz5 minutes
Hands On: Commissioning the Range Finder60 minutes
Hands-On: Transforming World Coordinates in Webots45 minutes
Range Finder Devices30 minutes

1 discussion promptTotal 10 minutes

Introduce Yourself!10 minutes

In this week, you will begin to understand basic discrete map representations and their implementation.

What's included

2 videos4 readings3 assignments1 plugin

2 videosTotal 24 minutes

Mapping18 minutes
Basic Mapping: Overview6 minutes

4 readingsTotal 40 minutes

Map Representations10 minutes
Topological Maps10 minutes
Grid Maps and Graphs10 minutes
QuadTrees10 minutes

3 assignmentsTotal 276 minutes

Hands-On: Mapping Part I - Basic Mapping 180 minutes
Topological Maps and Graphs6 minutes
QuadTrees90 minutes

1 pluginTotal 20 minutes

Example QuadTree Implementation20 minutes

This week introduces simple ways to encode obstacles in terms of probability, the concept of "configuration space", and a simple algorithm for collision checking.

What's included

1 video3 readings2 assignments

In this week you will learn to define a robot trajectory based on a series of waypoints and implement a basic proportional controller in Webots to navigate in a 2D environment.

What's included

4 videos4 readings4 assignments

4 videosTotal 52 minutes

Trajectory Following22 minutes
Trajectory Following - Set Up6 minutes
Trajectory Following - Computing Error12 minutes
Control12 minutes

4 readingsTotal 50 minutes

Trajectory Following10 minutes
Euclidian Distance and Heading Error10 minutes
Proportional Control10 minutes
PID Control20 minutes

4 assignmentsTotal 225 minutes

Setup "supervisors" and markers in Webots45 minutes
Hands-On: Distance and Heading Error45 minutes
Control120 minutes
PID Control15 minutes

In this module you will transfer your mapping and trajectory following skills to a commercial robotic platform in a kitchen environment, introducing you to additional constraints of sensor integration on a real robotic platform.

What's included

1 video1 peer review

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Build toward a degree

This course is part of the following degree program(s) offered by University of Colorado Boulder. If you are admitted and enroll, your completed coursework may count toward your degree learning and your progress can transfer with you.¹