Control of Mobile Robots
Description
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About this course: Control of Mobile Robots is a course that focuses on the application of modern control theory to the problem of making robots move around in safe and effective ways. The structure of this class is somewhat unusual since it involves many moving parts - to do robotics right, one has to go from basic theory all the way to an actual robot moving around in the real world, which is the challenge we have set out to address through the different pieces in the course.
Created by: Georgia Institute of Technology-
Taught by: Dr. Magnus Egerstedt, Professor
School of Electrical and Computer Engineering
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When you enroll for courses through Coursera you get to choose for a paid plan or for a free plan .
- Free plan: No certicification and/or audit only. You will have access to all course materials except graded items.
- Paid plan: Commit to earning a Certificate—it's a trusted, shareable way to showcase your new skills.
About this course: Control of Mobile Robots is a course that focuses on the application of modern control theory to the problem of making robots move around in safe and effective ways. The structure of this class is somewhat unusual since it involves many moving parts - to do robotics right, one has to go from basic theory all the way to an actual robot moving around in the real world, which is the challenge we have set out to address through the different pieces in the course.
Created by: Georgia Institute of Technology-
Taught by: Dr. Magnus Egerstedt, Professor
School of Electrical and Computer Engineering
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Georgia Institute of Technology The Georgia Institute of Technology is one of the nation's top research universities, distinguished by its commitment to improving the human condition through advanced science and technology. Georgia Tech's campus occupies 400 acres in the heart of the city of Atlanta, where more than 20,000 undergraduate and graduate students receive a focused, technologically based education.Syllabus
WEEK 1
Introduction to Robots
10 videos, 6 readings expand
- Reading: Getting Started
- Video: Control of Mobile Robots
- Reading: Preparing for Programming Assignments
- Video: What's Control Theory, Anyway?
- Video: On the Need for Models
- Video: Cruise-Controllers
- Video: Control Design Basics
- Video: Performance Objectives
- Video: PID Control
- Video: Implementation
- Video: Glue Lecture 1
- Video: Programming & Simulation Lecture 1
- Reading: Optional Programming Assignment 1: Instructions
- Reading: Get From Georgia Tech
- Reading: Module 1 Lecture Slides
- Reading: MATLAB Tutorials
Graded: Quiz 1
WEEK 2
Mobile Robots
The description goes here
10 videos, 4 readings expand
- Video: Driving Robots Around?
- Video: Differential Drive Robots
- Video: Odometry
- Video: Sensors
- Video: Behavior-Based Robotics
- Video: Go-to-Goal
- Video: The GRITS Simulator
- Video: Obstacle Avoidance
- Video: Glue Lecture 2
- Video: Programming & Simulation Lecture 2
- Reading: Optional Programming Assignment 2: Instructions
- Reading: Earn a Georgia Tech Badge/Transcript/CEUs
- Reading: Installing MATLAB
- Reading: Module 2 Lecture Slides
Graded: Quiz 2
WEEK 3
Linear Systems
10 videos, 2 readings expand
- Video: A Simple Robot
- Video: State-Space Models
- Video: Linearizations
- Video: LTI Systems
- Video: Stability
- Video: Swarm Robotics
- Video: Output Feedback
- Video: State Feedback
- Video: Glue Lecture 3
- Video: Programming & Simulation Lecture 3
- Reading: Optional Programming Assignment 3: Instructions
- Reading: Module 3 Lecture Slides
Graded: Quiz 3
WEEK 4
Control Design
10 videos, 2 readings expand
- Video: Stabilizing the Point Mass
- Video: Pole-Placement
- Video: Controllability
- Video: Segway Robots
- Video: Observers
- Video: Observability
- Video: The Separation Principle
- Video: Practical Considerations
- Video: Glue Lecture 4
- Video: Programming & Simulation Lecture 4
- Reading: Optional Programming Assignment 4: Instructions
- Reading: Module 4 Lecture Slides
Graded: Quiz 4
WEEK 5
Hybrid Systems
10 videos, 2 readings expand
- Video: Switches Everywhere
- Video: Hybrid Automata
- Video: A Counter-Example
- Video: Danger - Beware!
- Video: The Bouncing Ball
- Video: The Zeno Phenomenon
- Video: Sliding Mode Control
- Video: Regularizations
- Video: Glue Lecture 5
- Video: Programming & Simulation Lecture 5
- Reading: Optional Programming Assignment 5: Instructions
- Reading: Module 5 Lecture Slides
Graded: Quiz 5
WEEK 6
The Navigation Problem
10 videos, 2 readings expand
- Video: Behaviors Revisited
- Video: Hard Switches vs Blending
- Video: Convex and Non-Convex Worlds
- Video: Boundary Following
- Video: The Induced Mode
- Video: A Complete Navigation System
- Video: Practical Considerations
- Video: Let's Do it!
- Video: Glue Lecture 6
- Video: Programming & Simulation Lecture 6
- Reading: Optional Programming Assignment 6: Instructions
- Reading: Module 6 Lecture Slides
Graded: Quiz 6
WEEK 7
Putting It All Together
10 videos, 2 readings expand
- Video: Approximations and Abstractions
- Video: A Layered Architecture
- Video: Differential-Drive Trackers
- Video: A Clever Trick
- Video: Other Robot Classes
- Video: Car-Like Robots
- Video: To Probe Further
- Video: In Conclusion
- Video: Glue Lecture 7
- Video: Programming & Simulation Lecture 7
- Reading: Optional Programming Assignment 7: Instructions
- Reading: Module 7 Lecture Slides
Graded: Quiz 7
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