Last update: 10/3/2018
Section I. Introduction
Section II. Modeling
Section III. Motion Planning
Section IV. Dynamics and Control
Section V. Perception incomplete
Section VI. Learning and Calibration incomplete
Appendix A. Mathematical Preliminaries
Appendix B. Numerical Methods
Appendix C. Computational methods
This book is a work in progress! The source material is my lecture notes from courses at Indiana University and Duke University, which are progressively being converted to Jupyter Notebook and HTML format.
The conversion tools that I am using may create broken matrix equations, links, references, or incorrectly formatted figures. I am trying to correct them as I go, but I may miss some. If you notice anything that needs correcting, please email me at firstname.lastname@example.org. Or better yet, make the corrections in the notebook directly and issue a Git pull request.
The book comes in HTML, PDF, and Jupyter Notebook formats, and the latter format contains in-browser examples that you can visualize and edit live in your browser. Follow these steps to enable this format:
Install software for running the notebook:
Note that the Klamp't source is the most up-to-date way to install Klamp't. The Windows binaries may not yet be fully compatible with the Jupyter Notebook plugin, and installing from source on Windows is a massive headache.
user@home> git clone https://github.com/krishauser/RoboticSystemsBook
user@home> jupyter notebook
This will launch a web browser interface to Jupyter.
The first time you install, please choose the
nbextension tab from the Home screen, and enable the "(some) LaTeX environments for Jupyter", "Table of Contents", and "Codefolding" plugins. This will lead to the best reading experience.
Open the Jupyter Notebook files in the RoboticSystemsBook folder (this page is named Book). Happy reading!