Course Material

= Assignments = Below is a document describing the abilities that each group has to do/demonstrate.


 * [[media:Assignments.pdf|Assignments]]

= Slides (Mandatory) = Slides as far as available will be made available during the course. All slides have to be studied (mandatory)

Slides of 2014:


 * [[media:Quadcopters_2014.pdf|Introduction Quadcopters]] Introduction to quadcopters by Mark Wijtvliet

Slides of 2013:


 * [[media:Quadcopters.pdf|Introduction Quadcopters]] Introduction to quadcopters by Mark Wijtvliet


 * [[media:RigidBodyDynamics.pdf|Rigid body dynamics]] Lecture about rigid body dynamics for quadcopters by Carlos Murguia Rendon


 * [[media:KinematicsControl.pdf‎|Kinematics and Control]] Lecture about Kinematics and Control by Dragan Kostic

Slides of 2012:


 * [[media:Visual-servo-control.pdf|Visual Servo Control]] Introduction by Roel Pieters


 * [[media:ARDrone_Quadcopter.pdf‎|Quadcopter introduction slides]] Parrot ARDrone Quadcopter introduction by Mark Wijtvliet


 * [[media:Forces_Quadcopter.pdf‎|Forces and sensors]] Slides about forces and sensors on a quadcopter by Mark Wijtvliet

= Introductory Articles On Quadcopters (Mandatory) = The two papers below are mandatory reading material for the second meeting of the course (28-3-2013). They can be downloaded freely from the TU/e network (or VPN).

Build Your Own Quadrotor: Open-Source Projects on Unmanned Aerial Vehicles Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor

= Component list (Recommended)=


 * [[media:Part_list_final_2014.xlsx‎|Componentlist quadcopter 2014]] Componentlist for the quadcopter as demonstrated during the kickoff meeting of the course.
 * [[media:Part_list_final.xlsx‎|Componentlist quadcopter 2013]] Old componentlist, for reference only.

= Course, Reading and Background Material (Optional) =

Below you'll find a lot of reading material. During the course we will instruct you what to read and study precisely, and what is background material.

Feature Detection
About the SURF algoritm (an scale- and rotation-invariant algorithm for detecting Robust Features in images): Herbert Bay, Andreas Ess, Tinne Tuytelaars, Luc Van Gool, "SURF: Speeded Up Robust Features", Computer Vision and Image Understanding (CVIU), Vol. 110, No. 3, pp. 346--359, 2008 http://www.vision.ee.ethz.ch/~surf/papers.html

Visual Servo Control
Chaumette, F.; Hutchinson, S.; "Visual servo control. I. Basic approaches" http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4015997

Homography

 * Homography Estimation Master Thesis by Elan Dubrofsky, 2007
 * Adaptive homography-based visual servo tracking J. Chen, D.M Dawson, W.E. Dixon and A. Beha
 * A survey of planar homography estimation techniques Paper by: Anubhav Agarwal, C.V. Jawahar and P.J. Narayanan

Trajectory Planning
Trajectory Planning for Automatic Machines and Robots - Luigi Biagiotti · Claudio Melchiorri http://www.springer.com/engineering/robotics/book/978-3-540-85628-3

Quadrocoptor Trajectory Generation and Control
Quadrocopter Trajectory Generation and Control Markus Hehn Raffaello D’Andrea PDF

Movies
Movies from the Quadrocopter group in Zurich: http://www.youtube.com/user/UntitledTitle

Research with Parrot
AR-Drone as a Platform for Robotic Research and Education http://labe.felk.cvut.cz/~tkrajnik/articles/eurobot11.pdf

= Further Material (Optional) =

Student Thesis in TUE

 * Thomas Blanken: [[media:Report_BEP_ThomasBlanken.pdf|Visual servo control of mobile robots]] Bachelor Final Project thesis 2010 TUE-ME.
 * Tufan Tepe: [[media:MobileRobotNavigation-using-VisualServoing.pdf|Mobile Robot Navigation using Visual Servoing]]. Master Intership Report. This is recommended studying material.

Books (Optional)

 * M.W. Spong, S. Hutchinson and M. Vidyasagar. "Robot Modeling and Control", John Wiley, 2006 (recommended)
 * You have to study the chapters 2,3, 4 and 12.  Use slides below to help studying this.
 * The following lecture slides (lectures 1-4) are taken from the course 4L160 Introduction Robotics.
 * [[media:Introduction_Robotics_lecture1.pdf|lecture 1]]
 * [[media:Introduction_Robotics_lecture2.pdf|lecture 2]]
 * [[media:Introduction_Robotics_lecture3.pdf|lecture 3]]
 * [[media:Introduction_Robotics_lecture4.pdf|lecture 4]]


 * B.Siciliano and O.Khatib. "Handbook of Robotics", Springer, Berlin 2008 An online copy is available (recommended). Chapter 24 is obligatory reading.


 * B. Siciliano, L. Sciavicco, L. Villani and G. Oriolo. "Robotics, Modelling, Planning and Control", Springer 2009 (recommended). Chapter 10 is obligatory reading
 * R. Hartley and A. Zisserman. "Multiple View Geometry in Computer Vision". Cambridge, 2003 (Recommended)
 * R.C. Gonzalez and R.E. Woods. "Digital Image Processing", Pearson Prentice Hall 2008 (Recommended)
 * Richard Szeliski. "Computer Vision: Algorithms and Applications", Springer, 2010. An online copy is available.