How can robots determine their state and properties of the surrounding environment from noisy sensor measurements in time? In this module you will learn how to get robots to incorporate uncertainty into estimating and learning from a dynamic and changing world. Specific topics that will be covered include probabilistic generative models, Bayesian filtering for localization and mapping.
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About this Course
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Learner Career Outcomes
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started a new career after completing these courses
43%
got a tangible career benefit from this course
20%
got a pay increase or promotion
Skills you will gain
Particle FilterEstimationMapping
Learner Career Outcomes
40%
started a new career after completing these courses
43%
got a tangible career benefit from this course
20%
got a pay increase or promotion
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Approx. 12 hours to complete
Suggested: 4 weeks of study, 3-4 hours/week
English
Subtitles: English, Spanish, Chinese (Simplified)
Offered by
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 - What you will learn from this course
4 hours to complete
Gaussian Model Learning
We will learn about the Gaussian distribution for parametric modeling in robotics. The Gaussian distribution is the most widely used continuous distribution and provides a useful way to estimate uncertainty and predict in the world. We will start by discussing the one-dimensional Gaussian distribution, and then move on to the multivariate Gaussian distribution. Finally, we will extend the concept to models that use Mixtures of Gaussians.
4 hours to complete
9 videos (Total 52 min), 3 readings, 1 quiz
9 videos
WEEK 1 Introduction1m
1.2.1. 1D Gaussian Distribution8m
1.2.2. Maximum Likelihood Estimate (MLE)6m
1.3.1. Multivariate Gaussian Distribution7m
1.3.2. MLE of Multivariate Gaussian4m
1.4.1. Gaussian Mixture Model (GMM)4m
1.4.2. GMM Parameter Estimation via EM7m
1.4.3. Expectation-Maximization (EM)6m
3 readings
MATLAB Tutorial - Getting Started with MATLAB10m
Setting Up your MATLAB Environment10m
Basic Probability10m
3 hours to complete
Bayesian Estimation - Target Tracking
We will learn about the Gaussian distribution for tracking a dynamical system. We will start by discussing the dynamical systems and their impact on probability distributions. This linear Kalman filter system will be described in detail, and, in addition, non-linear filtering systems will be explored.
3 hours to complete
5 videos (Total 21 min)
5 videos
Kalman Filter Motivation4m
System and Measurement Models5m
Maximum-A-Posterior Estimation4m
Extended Kalman Filter and Unscented Kalman Filter4m
4 hours to complete
Mapping
We will learn about robotic mapping. Specifically, our goal of this week is to understand a mapping algorithm called Occupancy Grid Mapping based on range measurements. Later in the week, we introduce 3D mapping as well.
4 hours to complete
6 videos (Total 36 min)
6 videos
Introduction to Mapping7m
3.2.1. Occupancy Grid Map6m
3.2.2. Log-odd Update6m
3.2.3. Handling Range Sensor6m
Introduction to 3D Mapping8m
3 hours to complete
Bayesian Estimation - Localization
We will learn about robotic localization. Specifically, our goal of this week is to understand a how range measurements, coupled with odometer readings, can place a robot on a map. Later in the week, we introduce 3D localization as well.
3 hours to complete
6 videos (Total 23 min)
6 videos
Odometry Modeling5m
Map Registration5m
Particle Filter4m
Iterative Closest Point5m
Closing45s
Reviews
4.3
TOP REVIEWS FROM ROBOTICS: ESTIMATION AND LEARNING
by SSApr 6, 2017
Leanring of mechanism and implementation of Kalman filter and particle filter from experiment is very interesting for me. And these method let me know more about map building in SLAM framework.
by SJAug 6, 2016
Lesson 1 and Lesson 3 are clear. However, homework in Lesson 2 and Lesson 4 is hard to finish because of too few materials in the lesson. Overall, it is a fairly good course.
by VGFeb 15, 2017
The material is clearly presented. The Matlab exercises complement and reinforce the subject, the level of difficulty is well balanced, thanks for this great course.
by NNJun 19, 2016
This is course is really helpful for beginners to understand how probability is useful in Robotics.Assignments are bit tough but worth the time .
by LZNov 26, 2016
Week 1 and Week 3 are organized much better than Week 2 and Week 4. If you don't have enough time, I recommend that you focus on Week 1 and 3.
by AVJun 24, 2016
A tough course with few hours of lecture material and some good programming assignments.You will be satisfied by those assignments however .
by ASNov 22, 2019
Really good course. Engaging and relevant content. The assignments push you but test your fundamentals and you end up learning a lot.
by HAJun 6, 2019
Course content needs researching on the internet as well. And course assignments are good learning experience but need research too.
by RAAug 20, 2017
Very interesting and useful course. Professors give a lot of information. However, some explanations are not very clear.
by DDJan 6, 2019
Excellent exposure to mapping, localization, etc. Would have liked to have odometry included in the week4 assignment.
by ABFeb 11, 2019
It was a well timed course with short videos. However, the assignments didn't do justice (especially assignment 4)
by RSApr 22, 2017
Pretty practical course It' ll involve a good amount of programming. Not quiz and theoretical verification here.
About the Robotics Specialization
The Introduction to Robotics Specialization introduces you to the concepts of robot flight and movement, how robots perceive their environment, and how they adjust their movements to avoid obstacles, navigate difficult terrains and accomplish complex tasks such as construction and disaster recovery. You will be exposed to real world examples of how robots have been applied in disaster situations, how they have made advances in human health care and what their future capabilities will be. The courses build towards a capstone in which you will learn how to program a robot to perform a variety of movements such as flying and grasping objects.
Frequently Asked Questions
When will I have access to the lectures and assignments?
Once you enroll for a Certificate, you’ll have access to all videos, quizzes, and programming assignments (if applicable). Peer review assignments can only be submitted and reviewed once your session has begun. If you choose to explore the course without purchasing, you may not be able to access certain assignments.
What will I get if I subscribe to this Specialization?
When you enroll in the course, you get access to all of the courses in the Specialization, and you earn a certificate when you complete the work. Your electronic Certificate will be added to your Accomplishments page - from there, you can print your Certificate or add it to your LinkedIn profile. If you only want to read and view the course content, you can audit the course for free.
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Is financial aid available?
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