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.
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 |
- Video: Unmanned Aerial Vehicles
- Video: Quadrotors
- Video: Key Components of Autonomous Flight
- Video: State Estimation
- Video: Applications
- Video: Meet the TAs
- Reading: Setting up your Matlab programming environment
- Reading: Matlab Tutorials - Introduction to the Matlab Environment
- Reading: Matlab Tutorials - Programming Basics
- Reading: Matlab Tutorials - Advanced Tools
- Video: Basic Mechanics
- Video: Dynamics and 1-D Linear Control
- Video: Design Considerations
- Video: Design Considerations (continued)
- Video: Agility and Maneuverability
- Video: Component Selection
- Video: Effects of Size
- Video: Supplementary Material: Introduction
- Video: Supplementary Material: Dynamical Systems
- Video: Supplementary Material: Rates of Convergence
- Video: Transformations
- Video: Rotations
- Video: Euler Angles
- Video: Axis/Angle Representations for Rotations
- Video: Angular Velocity
- Video: Supplementary Material: Rigid-Body Displacements
- Video: Supplementary Material: Properties of Functions
- Video: Supplementary Material: Symbolic Calculations in Matlab
- Video: Supplementary Material: The atan2 Function
- Video: Supplementary Material: Eigenvalues and Eigenvectors of Matrices
- Video: Supplementary Material: Quaternions
- Video: Supplementary Material: Matrix Derivative
- Video: Supplementary Material: Skew-Symmetric Matrices and the Hat Operator
- Video: Formulation
- Video: Newton-Euler Equations
- Video: Principal Axes and Principal Moments of Inertia
- Video: Quadrotor Equations of Motion
- Video: Supplementary Material: State-Space Form
- Video: Supplementary Material: Getting Started With the First Programming Assignment
- Video: 2-D Quadrotor Control
- Video: 3-D Quadrotor Control
- Video: Time, Motion, and Trajectories
- Video: Time, Motion, and Trajectories (continued)
- Video: Motion Planning for Quadrotors
- Video: Supplementary Material: Minimum Velocity Trajectories from the Euler-Lagrange Equations
- Video: Supplementary Material: Solving for Coefficients of Minimum Jerk Trajectories
- Video: Supplementary Material: Minimum Velocity Trajectories
- Video: Supplementary Material: Linearization of Quadrotor Equations of Motion
- Video: Sensing and Estimation
- Video: Nonlinear Control
- Video: Control of Multiple Robots
- Video: Adjourn
- Video: Supplementary Material: Introduction to the Motion Capture System by Matthew Turpin
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|---|---|---|
| Access to course materials | Available | Available |
| Access to graded materials | Not available | Available |
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The videos were good but the assignments were really tough compared to the lectures.
A very informative course! I learned a ton about aerial robots and their control and applications. The programming assignments were challenging but I learned a lot through struggling with the problems. I think that supplemental section providing examples of PD/PID tuning and trajectory programming would've been very helpful and would have reduced some of the frustration I felt (and other students felt as indicated by the forum posts). Finally, I would have liked have seen better, more constructive guidance from the T/A's. I think this could be managed without providing the answer.
Good segue from a hardware modeling to a control design. I learned a control theory in university, but had no idea about how to implement to actual device. This course describes it.
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The programming assignments could be a more structured.