Course Materials

Lecture videos: link (update weekly)

• Week 1

  • • Introduction

• Week 2

  • • GitHub

    • ROS

    • Exercise 1

• Week 3

  • • Kinematic

    • LERP vs. SLERP

• Week 4

  • • Dynamics

• Week 5

  • • Convex optimization

• Week 8

  • •  QP Motion Planning and Attitude Estimate

• Week 9

  • • Nonlinear controller- geometric controller

• Week 10

  • • Nonlinear controller：stability analysis

• Week 11

  • • Nonlinear controller：stability analysis

• Week 12

  • • KF、EKF、UKF

• Week 13

  • • Error State Kalman Filter

• Week 14

  • • Final project