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Nikolaus Correll
In this second course of the Introduction to Robotics specialization, "Robotic Mapping and Trajectory Generation", you will learn how to perform basic inverse kinematics of (non-)holonomic systems using a feedback control approach. You will also learn how to process multi-dimensional sensor signals such as laser range scanners for mapping. Additionally, you will apply the overarching focus of mechanisms and sensors as sources of uncertainty and gain techniques to how to model and control them.
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In this second course of the Introduction to Robotics specialization, "Robotic Mapping and Trajectory Generation", you will learn how to perform basic inverse kinematics of (non-)holonomic systems using a feedback control approach. You will also learn how to process multi-dimensional sensor signals such as laser range scanners for mapping. Additionally, you will apply the overarching focus of mechanisms and sensors as sources of uncertainty and gain techniques to how to model and control them.
Read more
In this second course of the Introduction to Robotics specialization, "Robotic Mapping and Trajectory Generation", you will learn how to perform basic inverse kinematics of (non-)holonomic systems using a feedback control approach. You will also learn how to process multi-dimensional sensor signals such as laser range scanners for mapping. Additionally, you will apply the overarching focus of mechanisms and sensors as sources of uncertainty and gain techniques to how to model and control them.
It is recommended that you complete the first course of this specialization, “Introduction to Robotics: Basic Behaviors”, before beginning this one.
This course can be taken for academic credit as part of CU Boulder’s MS in Computer Science degrees offered on the Coursera platform. These fully accredited graduate degrees offer targeted courses, short 8-week sessions, and pay-as-you-go tuition. Admission is based on performance in three preliminary courses, not academic history. CU degrees on Coursera are ideal for recent graduates or working professionals. Learn more:
MS in Computer Science: https://coursera.org/degrees/ms-computer-science-boulder
Register for this course and see more details by visiting:
OpenCourser.com/course/1kf33l/robotic
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What's inside
Syllabus
Advanced Sensor: Range finders and Homogeneous transforms
Welcome to Week 1 of the course. You will get started by being introduced to the class of "range finder" devices, which have important applications in mapping, as well as the concept of homogeneous transforms to perform coordinate transformations.
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Syllabus
Advanced Sensor: Range finders and Homogeneous transforms
Welcome to Week 1 of the course. You will get started by being introduced to the class of "range finder" devices, which have important applications in mapping, as well as the concept of homogeneous transforms to perform coordinate transformations.
Read more
Traffic lights
Traffic lights
Read about what's good
what should give you pause and
possible dealbreakers
Deepens students' awareness of probabilistic modeling and error management, which are essential for real-world robotics applications
Develops students' skills in applying mathematical tools to model sensor uncertainty, which is critical for robust robot navigation
Provides hands-on experience with robotic platforms and real-world environments, enhancing students' practical abilities and understanding of robot deployment
Taught by industry experts with extensive experience in robotics, providing students with insights and best practices from the field
Coursework includes independent projects and assignments, allowing students to apply their learning and receive personalized feedback
Requires students to have a strong foundation in basic robotics, which may limit accessibility for beginners
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Reviews summary
Robotic mapping & trajectory: practical & challenging
According to students, this course offers a solid foundation and practical application in robotic mapping and trajectory generation, particularly praised for its hands-on projects using Webots and real-world examples of sensor integration. While many find the lectures clear and content insightful, especially the probabilistic mapping, a recurring theme is the significant prerequisite knowledge required, often beyond what is implied by its specialization title. Some learners also noted issues with math explanations lacking detail and aspects of the course structure feeling disconnected or poorly paced. It's a challenging but rewarding course for those with a strong technical background.
Lectures are generally clear and deepen understanding of key robotics concepts.
"The lectures were clear, and the Webots simulations were incredibly helpful for visualizing concepts. I found the section on probabilistic mapping particularly insightful."
"The coverage of inverse kinematics and trajectory generation was solid."
"The lectures on homogeneous transforms and range finders were very clear."
Provides valuable practical experience with simulations and real-world applications.
"The Webots simulations were incredibly helpful for visualizing concepts. The real-world application examples were a big plus."
"Hands-on projects using Webots were a game-changer. The course provides a very practical approach to robotic mapping and trajectory generation."
"The material on sensor integration and handling uncertainty was practical and well-explained. The assignments reinforced the concepts effectively."
Learners sometimes needed external resources for more detailed math explanations.
"I felt some of the math explanations could have been more detailed; I often had to consult external resources."
"The instructors seemed knowledgeable but the explanations weren't always clear for someone without a strong prior background in advanced linear algebra and calculus."
Some aspects of course structure, pacing, or instructions could be improved.
"I struggled with the pace. It felt like it jumped quickly into advanced topics without enough foundational review."
"The Webots environment is good, but the setup instructions could be clearer. I wish there were more diverse examples..."
"The assignments sometimes felt disconnected from the lecture material, requiring extra effort to bridge the gap."
"Useful concepts but poorly structured. I spent more time trying to figure out what was expected than learning the core material."
Requires a strong prior background in math and programming, challenging for beginners.
"The content is definitely geared towards those with a strong math and programming background."
"I found this course quite difficult to follow. The prerequisite knowledge was much higher than implied by the 'introduction' specialization title."
"Good course, but definitely not for beginners despite the 'Introduction to Robotics' specialization name. It requires a strong background in mathematics and programming."
"I had to spend a lot of time on external resources to understand the concepts."
Activities
Be better prepared
before
your course. Deepen your understanding
during
and
after
it. Supplement your coursework and achieve mastery of the topics covered
in Robotic Mapping and Trajectory Generation with these
activities:
Mentor a junior student or peer on mapping and trajectory generation
Show steps
Mentoring others reinforces understanding by explaining concepts and providing guidance in a specific area.
Browse courses on
Mapping
Show steps
-
Identify a suitable mentee
-
Establish regular mentoring sessions
-
Provide guidance and support on specific topics
Complete online tutorials on mapping and localization
Show steps
Engaging with guided tutorials reinforces concepts and provides practical examples of mapping and localization techniques.
Browse courses on
Mapping
Show steps
-
Identify suitable online tutorials
-
Follow the tutorials step-by-step
-
Apply the techniques to simulated or real-world examples
Attend a hands-on workshop on advanced mapping and localization techniques
Show steps
Hands-on workshops provide practical experience and exposure to new techniques and tools.
Browse courses on
Mapping
Show steps
-
Identify relevant workshops
-
Register and attend the workshop
-
Participate actively and take notes
Four other activities
Expand to see all activities and additional details
Show all seven activities
Develop a model for mobile robot kinematics
Show steps
Designing and simulating a mobile robot kinematic model cements understanding of inverse kinematics.
Browse courses on
Inverse Kinematics
Show steps
-
Define the robot's configuration space
-
Establish the relationship between joint angles and end-effector position
-
Implement the model in a simulation environment
-
Test and validate the model's accuracy
Solve a series of mapping and trajectory generation exercises
Show steps
Regular practice reinforces concepts and improves problem-solving habilidades in mapping and trajectory generation.
Browse courses on
Mapping
Show steps
-
Identify suitable exercise sets
-
Solve the exercises independently
-
Compare solutions with others or consult with an expert
Develop a detailed plan for a mobile robot mapping and navigation system
Show steps
Creating a detailed plan forces students to think critically about the different components and their integration.
Browse courses on
Mapping
Show steps
-
Define the requirements and specifications of the system
-
Research and select appropriate sensors and algorithms
-
Design the system architecture and workflow
-
Estimate the hardware and software resources required
Participate in a mapping or trajectory generation competition
Show steps
Participation in a competition provides pressure-tested practice and hones mapping and trajectory generation skills.
Browse courses on
Mapping
Show steps
-
Identify relevant competitions
-
Form a team or work independently
-
Develop and implement a solution
-
Submit the solution
Mentor a junior student or peer on mapping and trajectory generation
Show steps
Mentoring others reinforces understanding by explaining concepts and providing guidance in a specific area.
Browse courses on
Mapping
Show steps
Show steps
Show steps
- Identify a suitable mentee
- Establish regular mentoring sessions
- Provide guidance and support on specific topics
Complete online tutorials on mapping and localization
Show steps
Engaging with guided tutorials reinforces concepts and provides practical examples of mapping and localization techniques.
Browse courses on
Mapping
Show steps
Show steps
Show steps
- Identify suitable online tutorials
- Follow the tutorials step-by-step
- Apply the techniques to simulated or real-world examples
Attend a hands-on workshop on advanced mapping and localization techniques
Show steps
Hands-on workshops provide practical experience and exposure to new techniques and tools.
Browse courses on
Mapping
Show steps
Show steps
Show steps
- Identify relevant workshops
- Register and attend the workshop
- Participate actively and take notes
Four other activities
Expand to see all activities and additional details
Show all seven activities
Develop a model for mobile robot kinematics
Show steps
Designing and simulating a mobile robot kinematic model cements understanding of inverse kinematics.
Browse courses on
Inverse Kinematics
Show steps
Show steps
Show steps
- Define the robot's configuration space
- Establish the relationship between joint angles and end-effector position
- Implement the model in a simulation environment
- Test and validate the model's accuracy
Solve a series of mapping and trajectory generation exercises
Show steps
Regular practice reinforces concepts and improves problem-solving habilidades in mapping and trajectory generation.
Browse courses on
Mapping
Show steps
Show steps
Show steps
- Identify suitable exercise sets
- Solve the exercises independently
- Compare solutions with others or consult with an expert
Develop a detailed plan for a mobile robot mapping and navigation system
Show steps
Creating a detailed plan forces students to think critically about the different components and their integration.
Browse courses on
Mapping
Show steps
Show steps
Show steps
- Define the requirements and specifications of the system
- Research and select appropriate sensors and algorithms
- Design the system architecture and workflow
- Estimate the hardware and software resources required
Participate in a mapping or trajectory generation competition
Show steps
Participation in a competition provides pressure-tested practice and hones mapping and trajectory generation skills.
Browse courses on
Mapping
Show steps
Show steps
Show steps
- Identify relevant competitions
- Form a team or work independently
- Develop and implement a solution
- Submit the solution
Career center
Learners who complete Robotic Mapping and Trajectory Generation will develop knowledge and skills
that may be useful to these careers:
Robotic Mapping Specialist
Robotic Mapping Specialist
Robotic Mapping Specialists are responsible for creating and maintaining maps of indoor and outdoor environments for robots. They use a variety of sensors, such as laser range finders, to collect data about the environment and then use algorithms to create maps that can be used for navigation and planning. This course can provide you with the skills you need to become a Robotic Mapping Specialist, including experience with laser range finders and mapping algorithms.
Robotics Engineer
Robotics Engineer
Robotics Engineers research, design, develop, and test robots and robotic systems. They may specialize in a particular area of robotics, such as autonomous systems, medical robotics, or industrial robotics. This course can help you build a foundation in the fundamentals of robotics, including mapping and trajectory generation, which are essential skills for Robotics Engineers.
Computer Vision Engineer
Computer Vision Engineer
Computer Vision Engineers design and develop algorithms and systems that enable computers to see and understand images and videos. They work in a variety of industries, such as robotics, autonomous vehicles, and medical imaging. This course can help Computer Vision Engineers build a foundation in the fundamentals of computer vision, including techniques for image processing and object recognition, which are essential skills for this field.
Machine Learning Engineer
Machine Learning Engineer
Machine Learning Engineers design and develop machine learning models and algorithms. They work in a variety of industries, such as robotics, autonomous vehicles, and healthcare. This course may provide Machine Learning Engineers with a foundation in the fundamentals of machine learning, including techniques for supervised and unsupervised learning, which are essential skills for this field.
Data Scientist
Data Scientist
Data Scientists use data to solve problems and make predictions. They work in a variety of industries, such as finance, healthcare, and marketing. This course may provide Data Scientists with a foundation in the fundamentals of data science, including data analysis and visualization techniques, which are essential skills for this field.
Software Engineer
Software Engineer
Software Engineers design and develop software applications. They work in a variety of industries, such as robotics, autonomous vehicles, and healthcare. This course may provide Software Engineers with a foundation in the fundamentals of software engineering, including object-oriented programming and design patterns, which are essential skills for this field.
Electrical Engineer
Electrical Engineer
Electrical Engineers design and develop electrical systems. They work in a variety of industries, such as robotics, autonomous vehicles, and healthcare. This course may provide Electrical Engineers with a foundation in the fundamentals of electrical engineering, including circuit analysis and power electronics, which are essential skills for this field.
Mechanical Engineer
Mechanical Engineer
Mechanical Engineers design and develop mechanical systems. They work in a variety of industries, such as robotics, autonomous vehicles, and healthcare. This course may provide Mechanical Engineers with a foundation in the fundamentals of mechanical engineering, including solid mechanics and thermodynamics, which are essential skills for this field.
Aerospace Engineer
Aerospace Engineer
Aerospace Engineers design and develop aircraft, spacecraft, and missiles. They work in a variety of industries, such as robotics, autonomous vehicles, and healthcare. This course may provide Aerospace Engineers with a foundation in the fundamentals of aerospace engineering, including aerodynamics and propulsion, which are essential skills for this field.
Biomedical Engineer
Biomedical Engineer
Biomedical Engineers design and develop medical devices and systems. They work in a variety of industries, such as robotics, autonomous vehicles, and healthcare. This course may provide Biomedical Engineers with a foundation in the fundamentals of biomedical engineering, including biomaterials and medical imaging, which are essential skills for this field.
Chemical Engineer
Chemical Engineer
Chemical Engineers design and develop chemical processes and products. They work in a variety of industries, such as robotics, autonomous vehicles, and healthcare. This course may provide Chemical Engineers with a foundation in the fundamentals of chemical engineering, including fluid mechanics and mass transfer, which are essential skills for this field.
Civil Engineer
Civil Engineer
Civil Engineers design and develop infrastructure systems, such as roads, bridges, and buildings. They work in a variety of industries, such as robotics, autonomous vehicles, and healthcare. This course may provide Civil Engineers with a foundation in the fundamentals of civil engineering, including structural analysis and hydraulics, which are essential skills for this field.
Environmental Engineer
Environmental Engineer
Environmental Engineers design and develop solutions to environmental problems, such as air and water pollution. They work in a variety of industries, such as robotics, autonomous vehicles, and healthcare. This course may provide Environmental Engineers with a foundation in the fundamentals of environmental engineering, including environmental chemistry and risk assessment, which are essential skills for this field.
Industrial Engineer
Industrial Engineer
Industrial Engineers design and improve industrial processes and systems. They work in a variety of industries, such as robotics, autonomous vehicles, and healthcare. This course may provide Industrial Engineers with a foundation in the fundamentals of industrial engineering, including operations research and supply chain management, which are essential skills for this field.
Materials Engineer
Materials Engineer
Materials Engineers design and develop new materials for use in a variety of industries, such as robotics, autonomous vehicles, and healthcare. This course may provide Materials Engineers with a foundation in the fundamentals of materials engineering, including materials science and materials processing, which are essential skills for this field.
For more career information including salaries, visit:
OpenCourser.com/course/1kf33l/robotic
Reading list
We've selected ten books
that we think will supplement your
learning. Use these to
develop background knowledge, enrich your coursework, and gain a
deeper understanding of the topics covered in
Robotic Mapping and Trajectory Generation.
This classic textbook on probabilistic robotics that is an excellent reference for advanced learners and researchers.
This comprehensive textbook covers many of the topics from this course and serves as a great additional reference.
Save
Provides good background information on planning algorithms and is commonly used as a textbook at the graduate level.
Provides good background information and current reference for professionals.
Is commonly used as a textbook at the graduate level and provides good background information.
Provides helpful background information for this course.
This classic textbook on robotics that provides good background information.
Save
Useful reference tool.
Classic textbook on Markov decision processes that provides good background information.
Classic textbook on reinforcement learning that provides good background information.
For more information about how these books relate to this course, visit:
OpenCourser.com/course/1kf33l/robotic
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Effort
About 50 hours
Level
Intermediate
Via
Coursera
Institution
University of Colorado Boulder
Instructor
Nikolaus Correll
Language
English
This course belongs to a
collection
called
Introduction to Robotics with Webots. It's comprised of three courses:
- Robotic Mapping and Trajectory Generation (viewing)
- Basic Robotic Behaviors and Odometry
- Robotic Path Planning and Task Execution
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