Learn · Principles of Perception and Planning for Aerial Vehicles
Lecture 12 of 52Week 3
Constrainted optimization and KKT conditions - part 1
Prof. K Madhava Krishna Dr. Harikumar Kandath Dr. Antony Thomas · IIIT Hyderabad
Credits and licence
- From
- Principles of Perception and Planning for Aerial Vehicles, IIIT Hyderabad (at NPTEL)
- Licence
- CC BY-NC-SA, as NPTEL states it. Non-commercial use only.
- 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
- Tweens profiles and older. How courses are placed
All the lectures
- Rigid-Body Motions Part 1
- Rigid-Body Motions Part 2
- Example problems
- 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
- Linear and Nonlinear Least Squares
- Singular Value Decomposition (SVD)
- Constrainted optimization and KKT conditions - part 1
- Constrainted optimization and KKT conditions - part 2
- 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
- ICP-SLAM Part 1
- ICP-SLAM Part 2
- Loop closure in SLAM
- Tutorial session on pose graph optimization
- Camera Modelling
- Camera calibration PART 1
- Camera calibration PART 2
- Camera resection & epipolar geometry PART 1
- Camera resection & epipolar geometry PART 2
- 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
- Motion Planning
- C-Space
- Discrete motion planning - Part 1
- Discrete motion planning - Part 2
- Collision Avoidance Part 1
- Collision Avoidance Part 2
- Trajectory Planning Part 1
- Trajectory Planning Part 2
- MPC-based path planning Part 1
- MPC-based path planning Part 2
- Safe Flight corridor
- ROS 2 Frameworks & Development Setup
- ROS 2 Packages, Workspaces, Nodes & Topics
- ROS 2 Services, Actions & Launch Files
- URDF, TF2, Gazebo & RViz
- Introduction to PX4, Gazebo & ROS 2
- Offboard Control with PX4 & ROS 2
- RRT Path Planning with PX4, ROS 2 & Gazebo
- Structure from Motion Part 1
- Structure from Motion Part 2