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

Lecture 3: Micro Aerial Vehicle Dynamics

• Summary Recap from Lecture 2
• ​Time Derivatives in 2 Frames

errata: corrected equations - slides 24,25,26 

Lecture 5&6: Navigation Sensors

  

Lecture 9: Kalman Coding Examples

Lecture 11: PID Flight Control

Lecture 13: LQR Design Examples

AIRobots Coaxial Helicopter Simulator and System Identification Lecture

Lecture 15: Midterm Exam Preparation

*errata: corrected equation of control allocation matrix - slides 19,20,21

Lecture 17: Robot Motion Planning Introduction

Lecture 19: Inspection Path Planning

Download the relevant papers

Lecture 21: Motion Planning Recap

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Lecture 23: Further Exam Preparation

Further examples from online resources:

• M. Rubinstein, "Introduction to recursive Bayesian filtering"
• Pieter Abbeel, "Bayes Filter"  

Lecture 4: MAV Dynamics Recap

errata: corrected equations - slides 34,45,36,37 

Lecture 7&8: State Estimation

Contains recap of theory of probabilities, Bayes filter and the Kalman Filter.

Lecture 10: Flight Controls Introduction

Lecture 12: LQR Flight Control

Python LQR Implementation: click here

Lecture 14: Linear Model Predictive Control

 

Lecture 16: Autopilot Study

 

Lecture 18: Sampling-based Motion Planning

Lecture 20: Autonomous Exploration Path Planning

Download the relevant papers

Lecture 22: Course Recap

Additional material for Flight Control Systems:

• Introductory presentation (based on the link provided below)
• Online Course

Control Exercise Example

Further examples from online resources:

• UMICH MATLAB-based example
• Freiburg university example
• Caltech lecture