HKUST-Aerial-Robotics.github.io

HKUST ELEC5660: Introduction to Aerial Robots

ELEC5660 is an HKUST PG course which gives a comprehensive introduction to aerial robots. The goal of this course is to expose students to relevant mathematical foundations and algorithms and train them to develop real-time software modules for aerial robotic systems. Topics to be covered include rigid-body dynamics, system modeling, control, trajectory planning, sensor fusion, and vision-based state estimation. Students will complete a series of projects that combine into an aerial robot that is capable of vision-based autonomous indoor navigation.

Instructor: Shaojie SHEN

TAs: Fei GAO, Tong QIN, Peiliang LI, Wenliang GAO

Lab: HKUST Aerial Robotics Group

Contents

• Quadrotor Model and Control
  • Lecture 1: Introduction Rigid Body Transformation
  • Lecture 2: Rigid Body Transformation Quadrotor Modeling
  • Lecture 3: Control Basics Quadrotor Control
    • Project 1 Phase 1
  • Lecture 4: Time & Motion Trajectory Generation
    • Project 1 Phase 2
    • Project 1 Phase 3
    • Project 1 Phase 4
• Computer Vision basis
  • Lecture 5: Camera Modeling & Calibration Feature Detection & Matching
  • Lecture 6: Optical Flow Dense Stereo
  • Lecture 7: Multi-View Geometry 2D-2D, 3D-2D, 3D-3D
    • Project 2 Phase 1
• Multi-Sensor Fusion
  • Lecture 8: Probability Basics Bayesian Inferencing
  • Lecture 9: Kalman Filter Sensor Fusion
    • Project 2 Phase 2
  • Lecture 10: SLAM
    • Project 3: Final Project

Contact

For qustions and suggestions, please contact elec5660@ust.hk