Introduction to Aerial Robots

Introduction

Welcome to the ELEC5660 !

ELEC5660 is an HKUST postgraduate course held by the UAV Group. The course will give a comprehensive introduction to aerial robots.

The goal of this course is to expose students to relevant mathematical foundations and algorithms and train them to develop real-time software modules for aerial robotic systems. Topics to be covered include rigid-body dynamics, system modeling, control, trajectory planning, sensor fusion, and vision-based state estimation. Students will complete a series of projects that combine into an aerial robot that is capable of vision-based autonomous indoor navigation.

Keywords:

  • rigid-body dynamics
  • system modeling
  • control
  • trajectory planning
  • sensor fusion
  • vision-based state estimation

Contents

Quadrotor Modeling & Control

Lecture 1:

  • Introduction
  • Rigid Body Transformation
  • Click to Download Lecture Note: Google Drive 百度网盘

    Lecture 2:

  • Rigid Body Transformation
  • Quadrotor Modeling
  • Click to Download Lecture Note: Google Drive 百度网盘

    Lecture 3:

  • Control Basics
  • Quadrotor Control
  • Click to Download Lecture Note: Google Drive 百度网盘

    Lecture 4:

  • Path Planning
  • Trajectory Generation
  • Click to Download Lecture Note: Google Drive 百度网盘

    Computer Vision Basis

    Lecture 5:

  • Camera Modeling & Calibration
  • Feature Detection & Matching
  • Click to Download Lecture Note: Google Drive 百度网盘

    Lecture 6:

  • Optical Flow
  • Dense Stereo
  • Click to Download Lecture Note: Google Drive 百度网盘

    Lecture 7:

  • Multi-View Geometry 2D-2D, 3D-2D, 3D-3D
  • Click to Download Lecture Note: Google Drive 百度网盘

    Multi-Sensor Fusion

    Lecture 8:

  • Probability Basics
  • Bayesian Inferencing
  • Click to Download Lecture Note: Google Drive 百度网盘

    Lecture 9:

  • Kalman Filter
  • Sensor Fusion
  • Click to Download Lecture Note: Google Drive 百度网盘

    Lecture 10:

  • SLAM
  • Click to Download Lecture Note: Google Drive 百度网盘

    HKUST | RI | UAV Group