Robotics: Aerial Robotics

University of Pennsylvania

Explore the world of Robotics: Aerial Robotics, delving into the mechanics of flight, dynamics of quadrotor flying robots, and the challenges of operating in cluttered environments. Gain insights into control, planning, and sensor usage, alongside real-world applications and industry prospects.

Throughout the course, you'll cover topics like UAV design, state estimation, geometry and mechanics, motion planning, nonlinear control, and more. Practical exercises in MATLAB will enhance your understanding and skills in this rapidly growing field.

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Robotics: Aerial Robotics
Course Modules

This course comprises modules covering Introduction to Aerial Robotics, Geometry and Mechanics, Planning and Control, and Advanced Topics. You'll explore various aspects of robotics, from basic mechanics to advanced control and motion planning.

Introduction to Aerial Robotics

Robotics: Aerial Robotics begins with an Introduction to Aerial Robotics, covering unmanned aerial vehicles, quadrotors, state estimation, and design considerations. You'll also delve into basic mechanics and dynamic modeling, along with setting up your MATLAB programming environment.

Geometry and Mechanics

Geometry and Mechanics delves into transformations, rotations, Euler angles, axis/angle representations, and Newton-Euler equations. You'll also explore quadrotor equations of motion and principal moments of inertia, supported by MATLAB programming assignments.

Planning and Control

The Planning and Control module focuses on 2-D and 3-D quadrotor control, time, motion, and trajectories, motion planning, and minimum velocity trajectories. Additionally, you'll explore linearization of quadrotor equations of motion and solving for coefficients of minimum jerk trajectories.

Advanced Topics

The Advanced Topics module covers sensing and estimation, nonlinear control, and control of multiple robots, providing insights into the challenges and solutions for advanced aerial robotics applications.

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