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
| Commitment | 7 weeks of study, 5-7 hours/week |
| Language | English |
| How To Pass | Pass all graded assignments to complete the course. |
| User Ratings |
Syllabus
WEEK 1
Introduction to Robots
10 videos, 6 readings
- 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 More 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
- 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
- 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
- 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
- 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
- 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
- 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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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.
Ratings and Reviews
Excellent course
A nice overview of studying how robots behave, and slight theory behind it
The best online course I have ever taken .Sir, you were amazing ! Learned a lot !
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Excellent Course, the first part is about control thoery and the second part shows you how to use control thoery to design controllers for robots. Explanations are very clear and the difficulty of the quizzzes is just right. I hope some day you could offer a course only focused on control theory.