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<!DOCTYPE html>
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<h3 class="text-heading">I love to spread knowledge through my tutorials.</h3>
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An icon <i class="fa fa-file-text-o"></i> indicates that the tutorial is text based, <i class="fa fa-youtube-play"></i> indicates the tutorial is video based and <i class="fa fa-file-powerpoint-o"></i> indicates the tutorial has a presentation. A combination of the tutorial types are indicated by the presence of multiple icons. Please click on the respective icon for the particular type of tutorial. As always if you find a bug please <a title="Email" href="https://mailhide.io/e/k1q0VUOf" onclick="mailhidepopup=window.open('https://mailhide.io/e/k1q0VUOf','mailhidepopup','width=580,height=635'); return false;">email me <i class="fa fa-envelope"></i></a>
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<h3 class="mb-30">Attitude Estimation</h3>
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<section id="tutorials" class="services">
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<img class="img-fluid" src="img/tutorials/attitudeest/cf.png" style="padding-bottom: 15px">
<h4>What is an IMU? and Complementary Filter</h4>
<h2> <a href="tutorials/attitudeest/imu.html"><i class="fa fa-file-text-o"></i></a> <a href="https://www.youtube.com/watch?v=8hRoASoBEwY&list=PLZgpos4wVnCYhf5jsl2HcsCl_Pql6Kigk&index=3"><i class="fa fa-youtube-play"></i></a> </h2>
<p>This article talks about how an IMU works and how it can be used to obtain attitude using complementary filter.</p>
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<div class="col-lg-4 col-md-6 d-flex align-items-stretch mt-4">
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<img class="img-fluid" src="img/tutorials/attitudeest/MahonyFilterOverview.png" style="padding-bottom: 15px">
<h4>Mahony Filter</h4>
<h2> <a href="tutorials/attitudeest/mahony.html"><i class="fa fa-file-text-o"></i></a> </h2>
<p>This article discusses how one can obtain attitude using the Mahony filter.</p>
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<img class="img-fluid" src="img/tutorials/attitudeest/MadgwickFilterOverview.png" style="padding-bottom: 15px">
<h4> Madgwick Filter</h4>
<h2> <a href="tutorials/attitudeest/madgwick.html"><i class="fa fa-file-text-o"></i></a> <a href="https://www.youtube.com/watch?v=8hRoASoBEwY&list=PLZgpos4wVnCYhf5jsl2HcsCl_Pql6Kigk&index=3"><i class="fa fa-youtube-play"></i></a></h2>
<p>This article discusses how one can obtain attitude using the Madgwick filter.</p>
</div>
</section>
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<img class="img-fluid" src="img/tutorials/attitudeest/bayes.jpg" style="padding-bottom: 15px">
<h4>Kalman Filter</h4>
<h2> <a href="tutorials/attitudeest/kf.html"><i class="fa fa-file-text-o"></i></a> <a href="https://www.youtube.com/watch?v=EimcWx05GbQ&list=PLZgpos4wVnCYhf5jsl2HcsCl_Pql6Kigk&index=6"><i class="fa fa-youtube-play"></i></a> </h2>
<p>This article discusses how one can obtain attitude using a linear Kalman filter.</p>
</div>
</section>
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<hr>
<h3 class="mb-30">ENAE788M: Hands-On Autonomous Aerial Robotics</h3>
<div class="row">
<div class="col-lg-4 col-md-6 d-flex align-items-stretch mt-4">
<section id="tutorials" class="services">
<div class="icon-box">
<img class="img-fluid" src="img/tutorials/788m/imu.png" style="padding-bottom: 15px">
<h4>Complementary and Magdwick Filters</h4>
<h2> <a href="https://www.youtube.com/watch?v=8hRoASoBEwY&list=PLZgpos4wVnCYhf5jsl2HcsCl_Pql6Kigk&index=3"><i class="fa fa-youtube-play"></i></a> <a href="https://drive.google.com/open?id=1SkKCla7Zkoe3S64YulKstSJewgo6CgDs"><i class="fa fa-file-powerpoint-o"></i></a> </h2>
<p>This class talks about how an IMU works and how it can be used to obtain attitude using complementary and Madgwick filters.</p>
</div>
</section>
</div>
<div class="col-lg-4 col-md-6 d-flex align-items-stretch mt-4">
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<img class="img-fluid" src="img/tutorials/788m/kf.png" style="padding-bottom: 15px">
<h4>Bayes' and Kalman Filters</h4>
<h2> <a href="https://www.youtube.com/watch?v=EimcWx05GbQ&list=PLZgpos4wVnCYhf5jsl2HcsCl_Pql6Kigk&index=6"><i class="fa fa-youtube-play"></i></a> <a href="https://drive.google.com/file/d/13RTXVTex2qQbdGcS0Dh-GDC0RQctLgio/view?usp=sharing"><i class="fa fa-file-powerpoint-o"></i></a> </h2>
<p>This class talks how an IMU can be used to obtain attitude using a Kalman filter.</p>
</div>
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<img class="img-fluid" src="img/tutorials/788m/diy.png" style="padding-bottom: 15px">
<h4>DIY Research Quadrotor</h4>
<h2> <a href="https://www.youtube.com/watch?v=_yv0RreYlmE&list=PLZgpos4wVnCYhf5jsl2HcsCl_Pql6Kigk&index=5"><i class="fa fa-youtube-play"></i></a> <a href="https://drive.google.com/open?id=1cAA2SxC-L51ifErkNYFfh_MINandCBce"><i class="fa fa-file-powerpoint-o"></i></a> </h2>
<p>This class discusses how to hack a Parrot Bebop 2 and how to build your own research quadrotor.</p>
</div>
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<img class="img-fluid" src="img/tutorials/788m/ukf.png" style="padding-bottom: 15px">
<h4>Extended and Unscented Kalman Filters</h4>
<h2> <a href="https://www.youtube.com/watch?v=SFGqLuXfS0A&list=PLZgpos4wVnCYhf5jsl2HcsCl_Pql6Kigk&index=7"><i class="fa fa-youtube-play"></i></a> <a href="https://drive.google.com/open?id=1AIT2ElbVB_4rS0T1tqXKN_VONUWi80lz"><i class="fa fa-file-powerpoint-o"></i></a> </h2>
<p>This class talks about the basics of extended and unscented Kalman filters.</p>
</div>
</section>
</div>
</div>
<hr>
<h3 class="mb-30">CMSC828T: Vision, Planning and Control in Aerial Robotics</h3>
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<img class="img-fluid" src="img/tutorials/828t/rbd.png" style="padding-bottom: 15px">
<h4>Transformations and Rotations</h4>
<h2> <a href="https://www.youtube.com/watch?v=Jc5PIahEfU4&list=PLZgpos4wVnCaWQOIj3pREz1SQ94Rt8Alj&index=3"><i class="fa fa-youtube-play"></i></a> <a href="https://cmsc828t.github.io/slides/Class2%20Rigid%20Body%20Transformations%20+%20Rotations.pdf"><i class="fa fa-file-powerpoint-o"></i></a> </h2>
<p>This class talks about Rigid Body Transformations and Rotation Matrices.</p>
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<h4>Velocities</h4>
<h2> <a href="https://www.youtube.com/watch?v=SEDFzDqTbN0&list=PLZgpos4wVnCaWQOIj3pREz1SQ94Rt8Alj&index=4"><i class="fa fa-youtube-play"></i></a> <a href="https://cmsc828t.github.io/slides/Class3%20Velocities.pdf"><i class="fa fa-file-powerpoint-o"></i></a> </h2>
<p>This class talks about velocities and manifolds.</p>
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<h4>Quadrotor Dynamics</h4>
<h2> <a href="https://www.youtube.com/watch?v=39mn5ELVHPg&list=PLZgpos4wVnCaWQOIj3pREz1SQ94Rt8Alj&index=5"><i class="fa fa-youtube-play"></i></a> <a href="https://cmsc828t.github.io/slides/Class4%20Quadrotor%20Dynamics.pdf"><i class="fa fa-file-powerpoint-o"></i></a> </h2>
<p>This class discusses the mathematical derivation of quadrotor dynamics.</p>
</div>
</section>
</div>
<div class="col-lg-4 col-md-6 d-flex align-items-stretch mt-4">
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<h4>Quadrotor Controls</h4>
<h2> <a href="https://www.youtube.com/watch?v=K9Juj8KQRTM&list=PLZgpos4wVnCaWQOIj3pREz1SQ94Rt8Alj&index=6"><i class="fa fa-youtube-play"></i></a> <a href="https://cmsc828t.github.io/slides/Class5%20Quadrotor%20Controls.pdf"><i class="fa fa-file-powerpoint-o"></i></a> </h2>
<p>This class talks about how to control a quadrotor using a cascaded PID controller.</p>
</div>
</section>
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<div class="col-lg-4 col-md-6 d-flex align-items-stretch mt-4">
<section id="tutorials" class="services">
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<img class="img-fluid" src="img/tutorials/828t/traj.png" style="padding-bottom: 15px">
<h4>Quadrotor Controls</h4>
<h2> <a href="https://www.youtube.com/watch?v=k-QqZPajFSo&list=PLZgpos4wVnCaWQOIj3pREz1SQ94Rt8Alj&index=9"><i class="fa fa-youtube-play"></i></a> <a href="https://cmsc828t.github.io/slides/Class8%20Trajectory%20Planning.pdf"><i class="fa fa-file-powerpoint-o"></i></a> </h2>
<p>This class talks about how the trajectory planner for a quadrotor works including derivation from Euler Lagrange equations.</p>
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<a href="https://www.youtube.com/watch?v=k-QqZPajFSo">
<img class="img-fluid" src="img/tutorials/828t/gtsam.png" style="padding-bottom: 15px">
<h4>SLAM Using Factor Graphs</h4>
<h2> <a href="https://www.youtube.com/watch?v=o6jEKbnqvTU&list=PLZgpos4wVnCaWQOIj3pREz1SQ94Rt8Alj&index=11"><i class="fa fa-youtube-play"></i></a> <a href="https://cmsc828t.github.io/slides/Class10%20GTSAM.pdf"><i class="fa fa-file-powerpoint-o"></i></a> </h2>
<p>This class talks about how one can model the simultaneous localization and mapping problem.</p></a>
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