The Book

Getting Started

— Preface — Robot Autonomy Software

Part I · Robot Motion Planning and Control

1 Modeling Robot Dynamics 4 exercises 2 Open-Loop Control & Trajectory Optimization 5 exercises 3 Closed-Loop Control & Trajectory Tracking 7 exercises 4 Motion Planning 3 exercises

Part II · Robot Perception

5 Introduction to Robot Sensors 6 Camera Models and Calibration 3 exercises 7 Stereo Vision and Structure From Motion 8 Classical Methods for Perception 2 exercises 9 Deep Learning Architectures for Perception 1 exercises 10 Object Detection and Recognition 1 exercises

Part III · Robot Localization and Mapping

11 Introduction to Localization and Filtering 1 exercises 12 Approximate Filters for State Estimation 2 exercises 13 Robot Localization 2 exercises 14 Simultaneous Localization and Mapping (SLAM) 3 exercises 15 Sensor Fusion and Object Tracking 1 exercises

Part IV · Robot Decision Making

16 Finite State Machines 17 Sequential Decision Making and Dynamic Programming 1 exercises 18 Reinforcement Learning 4 exercises 19 Imitation Learning

Closing