ECE 4960 Fast Robots

Cornell, Spring 2022

Lecture slides

Lecture slides will be uploaded on this page. Recorded lectures are available via Canvas.

• Lecture 1 - Intro
• Lecture 2 - Transformation matrices, Worksheet
• Lecture 3 - Sensors
• Lecture 4 - IMU, Worksheet
• Lecture 5 - Wiring, Worksheet
• Lecture 6 - Actuators
• Lecture 7 - PID
• Lecture 8 - PID (Continued), Jupyter notebook
• Lecture 9 - Linear Systems
• Lecture 10 - Controllability
• Lecture 11 - LQR and KF
• Lecture 12 - KF continued and nagivation
• Lecture 13 - Path planning and navigation
• Lecture 14 - KF continued and graph construction
• Lecture 15 - Graph Search
• Lecture 16 - Probability and Bayes Theorem
• Lecture 17 - Markov and Bayes Filters
• Lecture 18 - Bayes Filter and Motion Models
• Lecture 19 - Recap and suggestions
• Lecture 20 - Lab 10, Flipped classroom
• Lecture 21 - Bayes Filter 2 (examples)
• Lecture 22 - Sensor models
• Lecture 23 - Intro to MCL and SLAM
• Lecture 24 - Ethics I
• Lecture 25 - Ethics II