- Level Professional
- Duration 26 hours
- Course by University of Colorado Boulder
-
Offered by
About
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 starting Fall 2, 2023. 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-boulderModules
Course Welcome
1
Discussions
- Introduce Yourself!
3
Videos
- Introduction to the Specialization
- Meet the Instructor
- Introduction to "Robotic Mapping and Trajectory Generation"
3
Readings
- Earn Academic Credit for your Work!
- Course Support
- Course Activities
Video lecture
1
Videos
- Range Finders and Homogeneous Transforms
Introduction to Range Finders
1
Videos
- Set Up a Range Finder in Webots
1
Quiz
- Hands On: Commissioning the Range Finder
Range Finders and Coordinate Transforms
2
Videos
- Range Sensing
- Transforming 1D-Range Images into World Coordinates
1
Readings
- Laser Range Finders
1
Quiz
- Hands-On: Transforming World Coordinates in Webots
Introduction to Homogeneous Transforms
1
Videos
- Homogeneous Transforms
1
Readings
- About Homogeneous Transforms
1
Quiz
- Homogeneous Transforms Practice
From Webots to Real Robots: Range Finders
1
Quiz
- Range Finder Devices
Video lecture
1
Videos
- Mapping
Grid-Based Mapping
1
Videos
- Basic Mapping: Overview
1
Readings
- Map Representations
1
Quiz
- Hands-On: Mapping Part I - Basic Mapping
Topological Maps and Graphs
2
Readings
- Topological Maps
- Grid Maps and Graphs
1
Quiz
- Topological Maps and Graphs
Mapping Data Structures With Quad Trees
1
Readings
- QuadTrees
1
Quiz
- QuadTrees
Video lecture
1
Videos
- Probabilistic Mapping and Configuration Space
Probabilistic Representations
1
Readings
- Probabilistic Map Representations
1
Quiz
- Hands-On: Mapping Part II -Probabilistic Mapping
Configuration Space
1
Readings
- Configuration Space
1
Quiz
- Hands-On: Mapping Part III - Configuration Space
Bresenham's Line Algorithm
1
Readings
- Bresenham's Line Algorithm
Video Lecture
1
Videos
- Trajectory Following
Introduction to Trajectory Following
1
Readings
- Trajectory Following
Setting Up for the Lab on Trajectory Following
1
Videos
- Trajectory Following - Set Up
1
Quiz
- Setup "supervisors" and markers in Webots
Computing Error
1
Videos
- Trajectory Following - Computing Error
1
Readings
- Euclidian Distance and Heading Error
1
Quiz
- Hands-On: Distance and Heading Error
Control
1
Videos
- Control
1
Readings
- Proportional Control
1
Quiz
- Control
PID Control
1
Readings
- PID Control
1
Quiz
- PID Control
Video Lecture
1
Videos
- Differential Kinematics and Control
Implementing mapping and trajectory generation
1
Peer Review
- Implementing Mapping and Trajectory Generation
Auto Summary
"Robotic Mapping and Trajectory Generation" is a specialized course in Data Science & AI, led by Coursera. This advanced course focuses on inverse kinematics, sensor signal processing, and controlling uncertainties in robotic systems. Recommended for those who have completed "Introduction to Robotics: Basic Behaviors", it spans 8 weeks and offers both Starter and Professional subscription options. Ideal for recent graduates and working professionals, it also provides a pathway to CU Boulder’s MS in Computer Science.

Nikolaus Correll