2012/Course Material

This Page is Obsolete. It is an archive of 5HC99 2012.

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

Slides of 2013:


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

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

= Component list =


 * [[media:Part_list_final.xlsx‎|Componentlist quadcopter]] Componentlist for the quadcopter as demonstrated during the kickoff meeting of the course.

= Course, Reading and Background Material =

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.

Quadcopters
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

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

On 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 http://dx.doi.org/10.3182/20110828-6-IT-1002.03178

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 =

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

 * 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.