Category Archives: Course work

Real-time SLAM for 3D Dense Mapping Using Geometric Features

The motivation of this project follows: Low cost 3D sensors (such as Kinect and Xtion) becomes popular and are applied on SLAM (Simultaneous localization and mapping) tasks. The large amount of 3D point cloud data produced by 3D sensors can

Real-time SLAM for 3D Dense Mapping Using Geometric Features

The motivation of this project follows: Low cost 3D sensors (such as Kinect and Xtion) becomes popular and are applied on SLAM (Simultaneous localization and mapping) tasks. The large amount of 3D point cloud data produced by 3D sensors can

Vision-aided State Estimator Study

This work is aimed to study the performance of using camera as the perception system for state estimator design on mobile robots. The system pipeline operates on ROS. Main study is focused on the robustness and accuracy of feature-based pose

Vision-aided State Estimator Study

This work is aimed to study the performance of using camera as the perception system for state estimator design on mobile robots. The system pipeline operates on ROS. Main study is focused on the robustness and accuracy of feature-based pose

Inspired by Twitch: Map Navigation with Crowdsourced Inputs

The power of crowdsourcing has been widely used since they can be easily accessed and the amount of data gives rise to a more complete and complicated set of models. In this project, it is focused on dealing with the problem that

Inspired by Twitch: Map Navigation with Crowdsourced Inputs

The power of crowdsourcing has been widely used since they can be easily accessed and the amount of data gives rise to a more complete and complicated set of models. In this project, it is focused on dealing with the problem that

Motion Planning with Uncertainties on Mobile Robot

In this assignment, a simple differential drive car needs to be controlled in a world filled with walls and open space. In addition to fixed walls, there will be road blocks which may or may not be open. The task is to execute a series

Motion Planning with Uncertainties on Mobile Robot

In this assignment, a simple differential drive car needs to be controlled in a world filled with walls and open space. In addition to fixed walls, there will be road blocks which may or may not be open. The task is to execute a series

Helicopter Controller: iLQR and Inverse Optimal Control

In this work, DDP was first used to find a controller that flies the helicopter following certain trajectory.  Inverse optimal control is then implemented based on the demonstrated trajectories from the given controller. The learned Q and R are computed

Helicopter Controller: iLQR and Inverse Optimal Control

In this work, DDP was first used to find a controller that flies the helicopter following certain trajectory.  Inverse optimal control is then implemented based on the demonstrated trajectories from the given controller. The learned Q and R are computed

Helicopter Hover Controller Learning

In this work, two methods are adopted and compared to learn a helicopter hover controller subjected to control input delay and noise in state estimate: neural network hover controller described in [Ng, Kim, Jordon, & Sastry, 2003], and the cross entropy

Helicopter Hover Controller Learning

In this work, two methods are adopted and compared to learn a helicopter hover controller subjected to control input delay and noise in state estimate: neural network hover controller described in [Ng, Kim, Jordon, & Sastry, 2003], and the cross entropy

Tetris Policy Improvement

In this work, the task is to learn a Tetris controller that operates as possible as it can. The baseline of our algorithm is to apply noisy cross entropy method on the policy selection that stochastically generates samples based on previously

Tetris Policy Improvement

In this work, the task is to learn a Tetris controller that operates as possible as it can. The baseline of our algorithm is to apply noisy cross entropy method on the policy selection that stochastically generates samples based on previously