Course10110600152 lectures
Principles of Perception and Planning for Aerial Vehicles
Prof. K Madhava Krishna Dr. Harikumar Kandath Dr. Antony Thomas · IIIT Hyderabad
About
This course provides the details of the important principles of perception and motion planning for aerial vehicles. They form the foundation of autonomous UAV navigation in the presence of obstacles. The first module of the course provides the fundaments of UAV modeling and mathematical tools needed for camera-based perception and motion planning. The second module covers the principles of SLAM (simultaneous localization and mapping) using monocular camera. Third module provides the algorithms for UAV motion planning. The last module illustrates the entire pipeline of obstacle detection using camera, camera based SLAM, followed by obstacle avoidance and reaching goal point along the planned path using ROS (Robotic Operating system).
Prerequisites: A course in Linear Algebra, Calculus, Control Systems (desirable)
Lectures
Week 1
Week 2
- Introduction to UAV - Navigation, Guidance and Control - part 1
- Introduction to UAV - Navigation, Guidance and Control - part 2
- UAV - Motion planning and control - part 1
- UAV - Motion planning and control - part 2
- Kalman Filtering for UAV application - Kalman filter basics
- Kalman Filtering for UAV application - GPS -INS fusion, attitue estimation
Week 3
- Linear and Nonlinear Least Squares
- Singular Value Decomposition (SVD)
- Constrainted optimization and KKT conditions - part 1
- Constrainted optimization and KKT conditions - part 2
Week 4
- Introduction to Perception for UAVs - Part 1- Point Clouds and Transformations
- Introduction to Perception for UAVs - Part 2-Occupancy Mapping and Frontier Exploration
- Point Cloud Registration - Part 1- Iterative Closest Point (ICP) Algorithm
- Point Cloud Registration - Part 2- ICP Applications: Motion Segmentation and Sensor Calibration
Week 5
Week 6
- Camera Modelling
- Camera calibration PART 1
- Camera calibration PART 2
- Camera resection & epipolar geometry PART 1
- Camera resection & epipolar geometry PART 2
Week 7
- Reconstruction PART 1
- Reconstruction PART 2
- Backend for monocular SLAM/SFM Part 1
- Backend for monocular SLAM/SFM Part 2
- Stereo rectification Part 1
- Stereo rectification Part 2
Week 8
Week 9
- Collision Avoidance Part 1
- Collision Avoidance Part 2
- Trajectory Planning Part 1
- Trajectory Planning Part 2
Week 10
Week 11
- ROS 2 Frameworks & Development Setup
- ROS 2 Packages, Workspaces, Nodes & Topics
- ROS 2 Services, Actions & Launch Files
- URDF, TF2, Gazebo & RViz
Week 12
Syllabus and materials
At NPTEL, as the course publishes them.
Credits and licence
- Institution
- IIIT Hyderabad
- Department
- Aerospace Engineering
- Teacher
- Prof. K Madhava Krishna Dr. Harikumar Kandath Dr. Antony Thomas
- Level
- Undergraduate
- Language
- English
- Subjects
- Engineering
- Source
- NPTEL
- Licence
- CC BY-NC-SA, as NPTEL states it. Non-commercial use only. NPTEL's terms
- Attribution
- NPTEL states: "Distributed under Creative Commons Attribution-ShareAlike / CC BY - NC - SA", beside a BY-NC-SA badge. Coordinated by IIT Madras.
- Who can watch
- NPTEL gives no rating. Invisible Network shows it to Tweens profiles and older, judged from what the source says about it. How courses are placed
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