Exercises and Supporting Code
40 interactive notebooks across 15 chapters. Each opens directly in Google Colab, or view the source in the pora-exercises repository.
Chapter 1 · Modeling Robot Dynamics
- Double Integrator Dynamics Open in Colab Source
- Nonholonomic Wheeled Robot Dynamics Open in Colab Source
- Simulation Open in Colab Source
- Numerical Integration Open in Colab Source
Chapter 2 · Open-Loop Control & Trajectory Optimization
- Differentially Flat Planar Quadrotor Open in Colab Source
- Unicycle Optimal Control Open in Colab Source
- Free Final Time Optimal Control Open in Colab Source
- Tpbvp Open in Colab Source
- Zermelos Problem Open in Colab Source
Chapter 3 · Closed-Loop Control & Trajectory Tracking
- Cartpole Iterative Lqr Open in Colab Source
- Cartpole Lqr Control Open in Colab Source
- Linear Mpc Open in Colab Source
- Pid Control Open in Colab Source
- Unicycle Trajectory Tracking Open in Colab Source
- Jax Linearization Open in Colab Source
- Lqr Open in Colab Source
Chapter 4 · Motion Planning
- A Star Open in Colab Source
- Rrt Open in Colab Source
- Prm Star Open in Colab Source
Chapter 6 · Camera Models and Calibration
- Camera Extrinsics Open in Colab Source
- Camera Intrinsics Open in Colab Source
- Sift Feature Matching Open in Colab Source
Chapter 8 · Classical Methods for Perception
- Correlation Filter Open in Colab Source
- Icp Open in Colab Source
Chapter 9 · Deep Learning Architectures for Perception
- Cnn Open in Colab Source
Chapter 10 · Object Detection and Recognition
- Object Detection Open in Colab Source
Chapter 11 · Introduction to Localization and Filtering
- Discrete Bayes Open in Colab Source
Chapter 12 · Approximate Filters for State Estimation
- Ekf Ukf Range Bearing Open in Colab Source
- Kalman Filter Open in Colab Source
Chapter 13 · Robot Localization
- Ekf Localization Open in Colab Source
- Particle Filter Localization Open in Colab Source
Chapter 14 · Simultaneous Localization and Mapping (SLAM)
- Ekf Slam Open in Colab Source
- Pose Graph Slam Open in Colab Source
- Range Bearing Ekf Slam Open in Colab Source
Chapter 15 · Sensor Fusion and Object Tracking
- Kalman Sensor Fusion Open in Colab Source
Chapter 17 · Sequential Decision Making and Dynamic Programming
- Markovian Drone Open in Colab Source
Chapter 18 · Reinforcement Learning
- Advantage Actor Critic Open in Colab Source
- Cartpole Balance Open in Colab Source
- Widget Sales Open in Colab Source
- Policy Iteration Open in Colab Source