Please visit the web page of our lab: www.autonomousrobotslab.com
Dr. Kostas Alexis
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    • Introduction to Aerial Robotics >
      • Online Textbook >
        • Modeling >
          • Frame Rotations and Representations
          • Multirotor Dynamics
        • State Estimation >
          • Inertial Sensors
          • The Kalman Filter
        • Flight Control >
          • PID Control
          • LQR Control
          • Linear Model Predictive Control
        • Motion Planning >
          • Holonomic Vehicle BVS
          • Dubins Airplane
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          • Structural Inspection Path Planning
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Lecture Slides

In combination with the online textbook, the course relies on a set of slides to support the lectures. Those will be progressively uploaded before each class and can be found below.
Lecture 1: Introduction
Lecture 2: Coordinate Frames
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Lecture 3: Micro Aerial Vehicle Dynamics
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  • Summary Recap from Lecture 2
  • ​Time Derivatives in 2 Frames
errata: corrected equations - slides 24,25,26 
Lecture 5&6: Navigation Sensors
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Lecture 9: Kalman Coding Examples
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Lecture 11: PID Flight Control
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Lecture 13: LQR Design Examples
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AIRobots Coaxial Helicopter Simulator and System Identification Lecture
Lecture 15: Midterm Exam Preparation
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*errata: corrected equation of control allocation matrix - slides 19,20,21
Lecture 17: Robot Motion Planning Introduction
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Lecture 19: Inspection Path Planning
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Download the relevant papers
Lecture 21: Motion Planning Recap
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Lecture 23: Further Exam Preparation
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Further examples from online resources:
  • M. Rubinstein, "Introduction to recursive Bayesian filtering"
  • Pieter Abbeel, "Bayes Filter"  







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Lecture 4: MAV Dynamics Recap
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errata: corrected equations - slides 34,45,36,37 
Lecture 7&8: State Estimation
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Contains recap of theory of probabilities, Bayes filter and the Kalman Filter.
Lecture 10: Flight Controls Introduction
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Lecture 12: LQR Flight Control
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Python LQR Implementation: click here
Lecture 14: Linear Model Predictive Control
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Lecture 16: Autopilot Study
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Lecture 18: Sampling-based Motion Planning
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Lecture 20: Autonomous Exploration Path Planning
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Download the relevant papers
Lecture 22: Course Recap
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Additional material for Flight Control Systems:
  • Introductory presentation (based on the link provided below)
  • Online Course
Control Exercise Example
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Further examples from online resources:
  • UMICH MATLAB-based example
  • Freiburg university example
  • Caltech lecture
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