Selected Certifications

Skills acquired: State Estimation, Localization, Sensor Fusion

1. State Estimation- Least Squares, Weighted Least Squares, Recursive Least Squares, Linear Kalman Filter, Extended Kalman Filter (EKF), Error-State EKF(ESEKF), Unscented Kalman Filters.

2. GNSS/INS Sensing for State Estimation- 3D Geometry and Reference Frames, Inertial Measurement Unit (IMU), GPS Error Improvements.

3. Lidar Sensing- Inverse Sensor Models and Forward sensor Models, Point Clouds, Pose Estimation from Lidar Data 

4. Sensor Fusion and Calibration 

Skills acquired: Graph Based Plan Methods, Path planning in Configuration Spaces, Sampling based Planning Methods and Artificial Potential Field Methods.

1. Graph-based Planning Methods- Grassfire, Dijkstra, A-star algorithms.

2. Path Planning in Configuration Spaces- Visibility Graphs, Trapezoidal decomposition, Collision Detection and Freespace Sampling.

3. Probabilstic Road Maps(PRMs) and Rapidly Exploring Random Trees(RRTs).

4. Artificial Potential Field Methods