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You'll learn the fundamental concepts needed to design and build flying robots. You'll use the quadrotor test platform and our custom flight simulator to implement solutions for planning, control, and estimation.
Syllabus:
Course 1: Introduction
- LESSON ONE Welcome
- LESSON TWO Autonomous Flight
- LESSON THREE Project: Backyard Flyer
- LESSON FOUR Drone Integration
Project: Backyard Flyer
In this project, you will use Python to write event-driven code that will cause your drone to take off, fly a predetermined path, and land in a simulated backyard environment.
Course 2: 3D Motion Planning
- LESSON ONE Planning as Search
- LESSON TWO Flying Car Representation
- LESSON THREE From Grids to Graphs
- LESSON FOUR Moving into 3D
- LESSON FIVE Real World Planning
- LESSON SIX Project: 3D Motion Planning
Project: 3D Motion Planning
You will fly a drone around a complex urban simulated environment in this project, which will take you beyond the confines of your backyard test grounds. To do so, you'll need to load a map of a real city, plan a collision-free path between buildings, and then fly your drone above city streets.
Course 3: Controls
- LESSON ONE Vehicle Dynamics
- LESSON TWO Introduction to Vehicle Control
- LESSON THREE Control Architecture
- LESSON FOUR Full 3D Control
Project: Building a Controller
In this project, you will not assume vehicle actuation but will instead create your own cascaded controller in C++. You will try various motions (slow, fast, slalom, etc.) and analyse performance under various conditions.
Course 4: Estimation
- LESSON ONE Introduction to Estimation
- LESSON TWO Introduction to Sensors
- LESSON THREE Extended Kalman Filters
- LESSON FOUR The 3D EKF and UKF
- LESSON FIVE Project: Estimation
- LESSON SIX GPS Denied Navigation
Project: Estimation
In this project, you will implement an EKF to estimate a flying robot's attitude and position using IMU and GPS data. After that, you will have completed the full-stack implementation for a single aerial robot!
Course 5: Fixed Wing Aircraft
- LESSON ONE Introduction to Fixed-Wing Flight
- LESSON TWO Lift and Drag
- LESSON THREE Longitudinal Model
- LESSON FOUR Lateral-Directional Model
- LESSON FIVE Fixed-Wing Autopilot
- LESSON SIX Project: Fixed-Wing Control
Project: Fixed-Wing Control
In this project, you will code a fixed-wing aircraft before implementing solutions to a much more difficult control problem.
