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:Â Â 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 |
| Commitment | 4 hours/week |
| Language | English |
| How To Pass | Pass all graded assignments to complete the course. |
| User Ratings |
- 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: 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: 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: 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 |
| Access to graded materials | Available |
| Receive a final grade | Available |
| Earn a shareable Course Certificate | Available |
This course was not so easy( and I mean, that's good ) Some assignments were rather difficult and they forced me to spend several nights for looking the right solution. So, sometimes I felt myself a bit tired) Fortunately I've passed that, before over of session; Good side of this course, it has a lot of material for self-study, i mean, lectures, supplement materials, related some aspects of math and matlab tutorials also good references on advanced level materials ( like Trajectory Generation and Control for Quadrobots ). Although, this stuff requires a thoughtful studying, I have a great interest to get it. I was really impressed by videos of experiments with robots. In other side, some lectures and materials have mistakes.
This course is remarkable. It simplifies the difficult concepts into very simple way. I love this course.
Honestly, the course was quite hard (being a software developer had dulled my Math skills). It was very interesting, though, that's for sure. Very enlightening, even.
LJ
nice course and with the help of this course, I also build a Simulink of the trajectroy tracking control of quadrotors.