How can we create agile micro aerial vehicles that are able to operate autonomously in cluttered indoor and outdoor environments? You will gain an introduction to the mechanics of flight and the design of quadrotor flying robots and will be able to develop dynamic models, derive controllers, and synthesize planners for operating in three dimensional environments. You will be exposed to the challenges of using noisy sensors for localization and maneuvering in complex, three-dimensional environments. Finally, you will gain insights through seeing real world examples of the possible applications and challenges for the rapidly-growing drone industry.
Mathematical prerequisites: Students taking this course are expected to have some familiarity with linear algebra, single variable calculus, and differential equations.
Programming prerequisites: Some experience programming with MATLAB or Octave is recommended (we will use MATLAB in this course.) MATLAB will require the use of a 64-bit computer.
Ce cours fait partie de la Spécialisation Robotics
Robotics: Aerial Robotics
proposé par
À propos de ce cours
4.5
1,777 notes
Compétences que vous acquerrez
Motion PlanningRoboticsQuadcoperMatlab
Programme du cours : ce que vous apprendrez dans ce cours
Semaine
1Introduction to Aerial Robotics
Welcome to Week 1! In this week, you will be introduced to the exciting field of Unmanned Aerial Robotics (UAVs) and quadrotors in particular. You will learn about their basic mechanics and control strategies and realize how careful component selection and design affect the vehicles' performance. This week also provides you with instructions on how to download and install Matlab. This software will be used throughout this course in exercises and assignments, so it is strongly recommended to familiarize yourself with Matlab soon. Tutorials to help you get started are also provided in this week.
16 vidéos (Total 74 min), 4 lectures, 2 quiz
16 vidéos
Quadrotors3 min
Key Components of Autonomous Flight1 min
State Estimation7 min
Applications3 min
Meet the TAs min
Basic Mechanics4 min
Dynamics and 1-D Linear Control10 min
Design Considerations3 min
Design Considerations (continued)4 min
Agility and Maneuverability7 min
Component Selection4 min
Effects of Size4 min
Supplementary Material: Introduction3 min
Supplementary Material: Dynamical Systems3 min
Supplementary Material: Rates of Convergence3 min
4 lectures
Setting up your Matlab programming environment10 min
Matlab Tutorials - Introduction to the Matlab Environment10 min
Matlab Tutorials - Programming Basics10 min
Matlab Tutorials - Advanced Tools10 min
2 exercices pour s'entraîner
1.112 min
1.210 min
Semaine
2Geometry and Mechanics
Welcome to Week 2 of the Robotics: Aerial Robotics course! We hope you are having a good time and learning a lot already! In this week, we will first focus on the kinematics of quadrotors. Then, you will learn how to derive the dynamic equations of motion for quadrotors. To build a better understanding on these notions, some essential mathematical tools are discussed in supplementary material lectures. In this week, you will also complete your first programming assignment on 1-D quadrotor control. If you have not done so already, please download, install, and learn about Matlab before starting the assignment.
19 vidéos (Total 117 min), 2 quiz
19 vidéos
Transformations16 min
Rotations4 min
Euler Angles12 min
Axis/Angle Representations for Rotations14 min
Angular Velocity9 min
Supplementary Material: Rigid-Body Displacements6 min
Supplementary Material: Properties of Functions3 min
Supplementary Material: Symbolic Calculations in Matlab4 min
Supplementary Material: The atan2 Function2 min
Supplementary Material: Eigenvalues and Eigenvectors of Matrices5 min
Supplementary Material: Quaternions2 min
Supplementary Material: Matrix Derivative1 min
Supplementary Material: Skew-Symmetric Matrices and the Hat Operator4 min
Formulation3 min
Newton-Euler Equations6 min
Principal Axes and Principal Moments of Inertia6 min
Quadrotor Equations of Motion5 min
Supplementary Material: State-Space Form4 min
Supplementary Material: Getting Started With the First Programming Assignment3 min
1 exercice pour s'entraîner
2.112 min
Semaine
3Planning and Control
Welcome to Week 3! We have developed planar and three-dimensional dynamic models of the quadrotor. This week, you will learn more about how to develop linear controllers for these models. With this knowledge, you will be required to complete the second programming assignment of this course, which focuses on controlling the quadrotor in two dimensions. We encourage you to start working on the assignment soon. This week ends with a discussion on motion planning for quadrotors.
9 vidéos (Total 65 min), 2 quiz
9 vidéos
3-D Quadrotor Control7 min
Time, Motion, and Trajectories9 min
Time, Motion, and Trajectories (continued)9 min
Motion Planning for Quadrotors12 min
Supplementary Material: Minimum Velocity Trajectories from the Euler-Lagrange Equations2 min
Supplementary Material: Solving for Coefficients of Minimum Jerk Trajectories5 min
Supplementary Material: Minimum Velocity Trajectories3 min
Supplementary Material: Linearization of Quadrotor Equations of Motion5 min
1 exercice pour s'entraîner
36 min
Semaine
4Advanced Topics
Welcome to Week 4! So far, we have gone over the basics of developing linear controllers for quadrotors and motion planning. In this last week of the course, we will discuss some more advanced material on how to enable quadrotors to perform more agile maneuvers and to operate autonomously in teams. Note that the last programming assignment on quadrotor control in three dimensions uses material from the previous weeks. It is strongly recommended to start the assignment as soon as possible.
5 vidéos (Total 68 min), 2 quiz
5 vidéos
Sensing and Estimation11 min
Nonlinear Control18 min
Control of Multiple Robots26 min
Adjourn1 min
Supplementary Material: Introduction to the Motion Capture System by Matthew Turpin9 min
1 exercice pour s'entraîner
410 min
4.5
475 avis54%
83%
Meilleurs avis
par IT•Oct 23rd 2017
The course is very good.\n\nThe classes are well taught and show general concepts. It is necessary to do research on the internet, to solve the assignments. This is not a bad thing in my point of view
par ST•Jun 9th 2018
I think this is very good course of aerial robotics research. Being a student of robotics, I feel that some of stuffs in this course needs a good background in control and mechanical engineering.
Enseignant
Vijay Kumar
Nemirovsky Family Dean of Penn Engineering and Professor of Mechanical Engineering and Applied MechanicsSchool of Engineering and Applied Science
À propos de University of Pennsylvania
The University of Pennsylvania (commonly referred to as Penn) is a private university, located in Philadelphia, Pennsylvania, United States. A member of the Ivy League, Penn is the fourth-oldest institution of higher education in the United States, and considers itself to be the first university in the United States with both undergraduate and graduate studies.
À propos de la Spécialisation Robotics
The Introduction to Robotics Specialization introduces you to the concepts of robot flight and movement, how robots perceive their environment, and how they adjust their movements to avoid obstacles, navigate difficult terrains and accomplish complex tasks such as construction and disaster recovery. You will be exposed to real world examples of how robots have been applied in disaster situations, how they have made advances in human health care and what their future capabilities will be. The courses build towards a capstone in which you will learn how to program a robot to perform a variety of movements such as flying and grasping objects.
Foire Aux Questions
Quand aurai-je accès aux vidéos de cours et aux devoirs ?
Une fois que vous êtes inscrit(e) pour un Certificat, vous pouvez accéder à toutes les vidéos de cours, et à tous les quiz et exercices de programmation (le cas échéant). Vous pouvez soumettre des devoirs à examiner par vos pairs et en examiner vous-même uniquement après le début de votre session. Si vous préférez explorer le cours sans l'acheter, vous ne serez peut-être pas en mesure d'accéder à certains devoirs.
À quoi ai-je droit si je m'abonne à cette Spécialisation ?
Lorsque vous vous inscrivez au cours, vous bénéficiez d'un accès à tous les cours de la Spécialisation, et vous obtenez un Certificat lorsque vous avez réussi. Votre Certificat électronique est alors ajouté à votre page Accomplissements. À partir de cette page, vous pouvez imprimer votre Certificat ou l'ajouter à votre profil LinkedIn. Si vous souhaitez seulement lire et visualiser le contenu du cours, vous pouvez accéder gratuitement au cours en tant qu'auditeur libre.
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