Class no

Date

Topic in class

Problem Set

1

1/26/21

M1

Welcome and field robot demos

2

1/28/21

Welcome and Introduction to field robotics

3

2/2/21

Preliminaries: Applications of linear algebra

PSET 1 out

4

2/4/21

Preliminaries: Linear controllers and observers

5

2/9/21

Introduction to Quaternions

6

2/11/21

Coordinate frames

7

2/16/21

Quaternions

8

2/18/21

M2

Holonomic vs non-holonomic dynamics

9

2/23/21

Deriving equations of motion of quadrotor

PSET 1 in

10

2/25/21

Equations of motion of fixed wing aircraft

PSET 2 out

11

3/2/21

GPS

12

3/4/21

GPS INS

13

3/9/21

LIDAR

14

3/11/21

Mid-Term Test 1

15

3/16/21

M3

Introduction to KFs

PSET 2 in

16

3/18/21

Introduction to KFs

17

3/23/21

Introduction to KFs

18

3/25/21

Inertial Sensors

PSET 3 out

3/30/21

GPS-INS sensor fusion: EKF formulation

4/1/21

GPS-INS sensor fusion: EKF formulation

19

4/6/21

Integrating other sensors in the EKF framework

20

4/8/21

M4

Integrating other sensors in the EKF framework

21

4/13/21

No Lecture (Instruction break)

22

4/15/21

SLAM

PSET 3 in

23

4/20/21

SLAM

24

4/22/21

Mid-Term Test 2

25

4/27/21

Motion control of wheeled robot

PSET 4 out

26

4/29/21

Mission planning and control

27

5/4/21

Final lecture

Lab no

1/27/21

No lab

2/3/21

L1

Lab 1 intro

2/10/21

Understanding Drones and ground robot systems

2/17/21

No Lab (Instruction break)

2/24/21

Processing of data from the drone flights

3/3/21

L2

Lab 2 intro

3/10/21

LIDAR data collection and analysis

3/17/21

LIDAR data collection and analysis

3/24/21

No lab (Instruction break)

3/31/21

L3

GPS-INS fusion introduction

4/7/21

Coding workshop

4/14/21

Coding workshop

4/21/21

L4

LIDAR SLAM

4/28/21

Coding workshop

5/5/21

Coding workshop