Lectures:

1. 29-Jul:  Introduction
   • (PDF)
   • (Recording)
2. 5-August: Representing Position & Orientation & State
   • (PDF)
   • (Recording)
   • 3D Frame Template
   • Recommended Reading: 
     • Corke, Ch. 2
     • Nevatia, Ch. 3
   • Reference Materials:
     • Tsai, Robot Analysis — § 2.3
     • Raghavan and Roth 6R Solution
     • Tsai and Morgan (1985)
   • Sample Problems
3. 12-August: Ekka Day Holiday 
   • Optional Forward Kineamtics Kineamtics Review (same slides as 5/Aug, emphasis on the latter half)
   • Supplementary Inverse Kinematics Examples
   • (Recording)
   • (Audio Recording)
   • Recommended Reading:
     • Corke, Ch. 7
     • LaValle, Ch. 3
4. 18-August: Robot Dynamics
   • (PDF)
   • (Recording)
   • L4-Part II: Lagrangian Dynamics
   • Recommended Reading:
     • Corke, Ch. 9
     • Khatib and Kolarov, Ch. 5
     • LaValle, § 13.3.2
   • Example: 2 DOF Arm Dynamics Example from §5.2 of Asada and Slotine, Robot Analysis & Control, 1986
5. 26-August: Robot Sensing: Perception
   • (PDF)
   • (Recording)
   • Recommended Reading
     • Chapters 2 and 3, Szeliski, Computer Vision: algorithms and applications, 2010
6. 2-September: Robot Sensing: Multiple View Geometry
   • (PDF)
   • (Recording)
   • Recommended Reading
     • Chapter 6, Szeliski, Computer Vision: algorithms and applications, 2010
7. 9-September: Robot Sensing: Feature Detection (as Linear Observers)
   • (PDF)
   • (Recording)
   • Part II (Sept. 16): SIFT
   • Recommended Reading
     • Chapter 4, Szeliski, Computer Vision: algorithms and applications, 2010
       
8. 16-September: Probabilistic Robotics: Localization
• (PDF)
• (Recording)
• Recommended Reading
  • Thrun, Burgard, and Fox, Probabilistic Robotics
    
9. 23-September: Quiz & Guest Lecture SLAM
   • Quiz Paper
   • Quiz Solutions
   • (PDF)
   • (Recording)
   • Recommended Reading
     • Durrant-Whyte and Bailey Simultaneous localization and mapping: Part I
       
       
       
10. 7-October: Motion Planning
    • (PDF)
    • (Recording)
    • Terminology List
    • Recommended Reading
      • LaValle, Chapter 1
      • Corke, Ch. 5
11. 14-October: State-Space Modelling
    • (PDF)
    • (Recording)
    • Recommended Reading
      • Szeliski, Linear Alegbra Review
        (Appendix A of Computer Vision: Algorithms and Applications by Richard Szeliski)
      • Friedland, Control System Design, Chapters 1 and 2
      • Corke, Ch. 15
12. 21-October: Shaping the Dynamic Response
    • (PDF)
    • (Recording)
    • Recommended Reading
      • Friedland, Control System Design, Chapter 6
      • Williams and Lawrence, Linear State Space Control Systems, Chapter 7
13. 28-October: LQR + Course Review
    • (PDF)
    • (Recording)
    • Recommended Reading
      • Friedland, Control System Design, Chapter 9
      • Mathworks, Linear-Quadratic-Gaussian (LQG) Design
14. 30-October: Special Lecture: John Leonard (MIT, co-inventor of SLAM)  --  30 Years of SLAM
    • (PDF)

References:

1. Peter Corke, Robotics, Vision and Control, 2013 — Online via SprigerLink
2. Bernard Friedland, Control System Design: An Introduction to State-Space Methods, 1986 — Available at UQ Library
3. Richard Hartley and Andrew Zisserman, Multiple View Geometry in Computer Vision (2nd edition),  2004 — Available at UQ Library
4. Oussama Khatib and Krasimir Kolarov. Introduction to Robotics, 2006 — Video Lectures
5. Steven LaValle, Planning Algorithms, 2006 — Online via Author's Webpage
6. Ramakant Nevatia, Machine Perception, 1982 — Online via ECVision Network
7. Lung-Wen Tsai, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, 1999 — Available at UQ Library

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Please refer comments & questions to: metr4202@itee.uq.edu.au

Previous Courses: METR4202/7202 -- 2014  ||  METR4202/7202 -- 2013  || METR4202/7202 -- 2012

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