drone
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Python notebooks for drone control (CoDrone library)
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Apr 16, 2019 - Jupyter Notebook
Now that we've implemented a steer function that, given some start state X1 and some destination state X2, allows us to randomly guess the set of controls that will try to make progress towards X2, we're going to move on an explore Rapidly-Exploring Random Trees (RRTs).
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Mar 25, 2020 - Jupyter Notebook
Now that we've begun pruning our path of waypoints, we take a deeper look at collinearity and why it may not be the most optimal of solutions.
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Mar 23, 2020 - Jupyter Notebook
This notebook is a continuation of representing orientation of the vehicle based on its Body Frame.
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Mar 22, 2020 - Jupyter Notebook
In the last notebook, we wrote a method called 'simulate' that allows us to predict where the vehicle will end up given an initial state, some controls, a steering angle, and velocity. Now, let's actually incorporate it into our planner.
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Mar 25, 2020 - Jupyter Notebook
This notebook is to further build upon the concepts presented in previous notebooks; more specifically, we're going to test the points within a given path to see if any are collinear.
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Mar 22, 2020 - Jupyter Notebook
This notebook is an implementation of a graph-based Voronoi Diagram.
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Mar 23, 2020 - Jupyter Notebook
The notebook represents a coordinate conversion from the Geodetic Frame to a N.E.D. aeronautical representation of the E.C.E.F. Frame.
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Mar 22, 2020 - Jupyter Notebook
This notebook explores the potential field theory of multirotor control...
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Mar 27, 2020 - Jupyter Notebook
This notebook is an implementation of a grids-based medial axis transform.
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Mar 23, 2020 - Jupyter Notebook
Now that we're able to represent the location of the vehicle as a reference point within a coordinate frame (in this case, the Local ECEF Frame) as well as its orientation, thanks to the Body Frame, we can consider motion of the vehicle as a transformation therein.
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Mar 22, 2020 - Jupyter Notebook
Now we'll look at a few design considerations for our 3d controller...
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Apr 13, 2020 - Jupyter Notebook
Vehicle dynamics are concerned with the motion of bodies under the action of forces. For our purposes, vehicle dynamics references understanding how the rotation of the quadrotor's 4 rotors create forces and how these forces generate motion of the vehicle. In the next few notebooks, we'll learn how to model these motions, mathematically, in Python.
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Mar 29, 2020 - Jupyter Notebook
This Jupyter Notebook forms a simple implementation of the A* Search Algorithm in Python.
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Mar 22, 2020 - Jupyter Notebook
This notebook explains the Body Frame of the vehicle and goes into the usage of Euler Angles and Rotation Matrices as a means by which to represent the vehicle's orientation with the Local ECEF Frame.
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Mar 22, 2020 - Jupyter Notebook
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