Lectures:

•  A Compendium of all slides from all lectures 
  (An approximate course reader)
  • From 2016: Compendium of Lecture Slide Sets (13 Sections — 467 Pages)

1. 26-Jul:  Introduction + Representing Position & Orientation & State
   • Slides (PDF)
   • Video (Lectopia)
     
     
2. 2-Aug: Robot Forward Kinematics (Frames, Transformation Matrices & Affine Transformations)
   • Slides (PDF)
   • Video (Lectopia)
     
     
3. 9-Aug: Robot Kinematics & Dynamics
   • Slides (PDF)
   • Video (Lectopia)
   • Video from Tutorial 3 (Lectopia)
   • Additional Reading:
     Chapters 4 (Jacobians) and 5 (Dynamics)
     from Khatib and Kolarov, Introduction to Robotics
     
     
4. 16-Aug: Ekka Day
   (Optional Robot Kinematics & Kinetics Review)
   • Reviewed Slides from Week 3
   • Video (Lectopia)
     
     
5. 23-Aug: Jacobians & Dynamics  
   • Slides (PDF)
   • Video (Lectopia)
   • ⇒ Video (Lectopia) from Prac/Lab Session (August 24)
     
     
6. 30-Aug: Robot Sensing: Single View Geometry & Colour 
   • Slides (PDF)
   • Video (Lectopia)
     
     
7. 6-Sep: Robot Sensing: Feature Detection
   • Slides (PDF)
   • Video (Lectopia)
   • Sample vl_SIFT Matching Matlab Code
     
     
8. 13-Sep: Robot Sensing: Robust Features
   • Slides (PDF)
   • Video (Lectopia)
     
     
9. 20-Sep: Mid-Semester Quiz!
   and  Multiple View Geometry
   • Slides (PDF)
   • Video (Lectopia)
     
     
     
10. 4-Oct: Motion Planning
    
    • Slides (PDF)
    • Video (Lectopia)
    • See Also: COMP3702 (AI): Lecture 3 and Tutorial 3  ("Search in Continuous Space")
    • Recommended Reading:
      • Motion Planning Terminology List
      • LaValle, Motion Planning: The Essentials
      • Chapter 7 (Sampling-based planners), Choset, et al., Principles of Robot Motion.
        
        
11. 11-Oct: Probabilistic Robotics: Planning & Control
    • Slides (PDF)
    • Video (Lectopia)
    • See Also: COMP3702 (AI): Lecture 4 and Tutorial 4  ("Search in Continuous Space and Motion Planning Application - Part II")
    • Recommended Reading:
      • LaValle and Kuffner Jr. "Randomized kinodynamic planning." The International Journal of Robotics Research 20.5 (2001): 378-400. 
        [UQ Cached Copy]  
      • Karaman and Frazzoli, "Sampling-based Algorithms for Optimal Motion Planning", RSS: 2011
    • RRT Demo in JavaScript [GitHub Source]
      
      
12. 18-Oct: Probabilistic Robotics: Localization & SLAM
    • Slides (PDF)
    • Video (Lectopia)
      
      
13. 25-Oct: The Future of Robotics/Automation + Challenges + Course Review
    • Slides (PDF)
    • Video (Lectopia) [Audio Only due to Echo360 Bug]
      
    
    

References:

1. Peter Corke, Robotics, Vision and Control, 2013 — Online via SprigerLink
2. Richard Szeliski, Computer Vision: Algorithms and Applications, 2011 — Online via SprigerLink
3. Lung-Wen Tsai, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, 1999 — 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. Richard Hartley and Andrew Zisserman, Multiple View Geometry in Computer Vision (2nd edition),  2004 — Available at UQ Library
7. Bernard Friedland, Control System Design: An Introduction to State-Space Methods, 1986 — Available at UQ Library

[Download all references in BibTeX]

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

Previous Courses: METR4202/7202 -- 2016  ||  METR4202/7202 -- 2015  ||  METR4202/7202 -- 2014  ||  METR4202/7202 -- 2013  || METR4202/7202 -- 2012

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