https://github.com/zcemycl/robotics

Python implementations of University of Pennsylvania Robotics Specialization, and more.
https://github.com/zcemycl/robotics

computer-vision robotics robotics-specialization

Last synced: about 1 year ago
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Python implementations of University of Pennsylvania Robotics Specialization, and more.

• Host: GitHub
• URL: https://github.com/zcemycl/robotics
• Owner: zcemycl
• License: mit
• Created: 2020-01-05T16:13:53.000Z (over 6 years ago)
• Default Branch: master
• Last Pushed: 2022-08-30T10:07:33.000Z (almost 4 years ago)
• Last Synced: 2025-04-21T15:14:34.699Z (about 1 year ago)
• Topics: computer-vision, robotics, robotics-specialization
• Language: Python
• Homepage:
• Size: 27.2 MB
• Stars: 28
• Watchers: 2
• Forks: 12
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Robotics [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT) [![Hits](https://hits.seeyoufarm.com/api/count/incr/badge.svg?url=https%3A%2F%2Fgithub.com%2Fzcemycl%2FRobotics&count_bg=%2379C83D&title_bg=%23555555&icon=&icon_color=%23E7E7E7&title=hits&edge_flat=false)](https://hits.seeyoufarm.com)

Collection of Python implementations of Robotics and Computer Vision theories taught in 

1. University of Pennsylvania [Robotics Specialization](https://www.coursera.org/specializations/robotics?) 

2. University of Cambridge [Computer Vision](https://www.cl.cam.ac.uk/teaching/1617/E4F12/)

3. University of Cambridge Robotics

4. University of Cambridge [Reinforcement Learning and Decision Making](http://mlg.eng.cam.ac.uk/teaching/mlsalt7/1516/)

5. Robot Ignite Academy [[link]](https://www.robotigniteacademy.com/en/)

Aims of this repo are to rewrite all MATLAB demos from the online courses into Python to develop a deeper understanding about those Robotics and Computer Vision concepts, and provide more readable scripts for beginners to begin their learning about Robotics. [**Mobility course is coming soon!]

## Configuration

+ Python 3.7.4 + numpy 1.16.5 + scipy 1.3.1 + matplotlib 3.1.1 + yaml 5.1.2 + open-cv 3.4.2 + glob 0.7 + tqdm 4.36.1 + sympy 1.4 + slycot 0.3.5.0 + pydobot

## Table of Contents

+ [Quadcopter 1D](Aerial%20Robotics/Quadcopter1D.ipynb) + [Quadcopter 2D](Aerial%20Robotics/Quadcopter2D.ipynb) 

+ [Dijkstra Algorithm](Computational%20Motion%20Planning/DijkstraGrid/DijkstraAlgorithm.ipynb) + [A-star Algorithm](Computational%20Motion%20Planning/Astar/AstarAlgorithm.ipynb) + [Configuration Space](Computational%20Motion%20Planning/ConfigurationSpace/ConfigurationSpace.ipynb) + [Potential Field Path](Computational%20Motion%20Planning/PotentialFieldPlanPath/PotentialFieldPath.ipynb)

+ [2D Homography](Perception/Logo%20Projection/LogoProjection.ipynb) + [3D Homography](Perception/3D%20object%20projection/3D%20Homography.ipynb) + [Optical Track](Perception/Optical%20Track/CornerTracking.ipynb) + [Point Cloud](Perception/Point%20Cloud/PointCloud.ipynb) + [Calibration](Perception/Calibration/calibrationviaChessBoard.ipynb)

+ [Kalman Filter](Estimation%20and%20Learning/Kalman%20Filter/BallPathPrediction_KalmanFilter.ipynb) + [Occupancy Grid Map](Estimation%20and%20Learning/Occupancy%20Grid%20Map/occGridMapping.ipynb) + [Particle Localization](Estimation%20and%20Learning/Particle%20Localization/ParticleLocalization.ipynb)

+ [Proportional-Derivative Control](Capstone/PD%20control/PDTrack.ipynb) + [Proportional-Derivative Track Arm](Capstone/PD%20control/ManipTrack.ipynb) + [Solve Ordinary Differential Equation](Capstone/ODE%20solver/Ordinary%20Differential%20Equation.ipynb) + [Estimated Kalman Filter](Capstone/Estimated%20Kalman%20Filter/EKF.ipynb)

+ [Mobile Inverted Pendulum](Capstone/Mobile%20Inverted%20Pendulum/MIP.ipynb) + [Linear–quadratic regulator Mobile Inverted Pendulum](Capstone/LQR%20MIP/LQRMIP.ipynb) + [Proportional–Integral–Derivative controller Mobile Inverted Pendulum](Capstone/PID%20MIP/PIDControlMIP.ipynb)

+ [Value Iteration](Reinforcemnet%20Learning/ValueIteration.ipynb) + [Policy Iteration](Reinforcemnet%20Learning/PolicyIteration.ipynb) + [State–Action–Reward–State–Action](Reinforcemnet%20Learning/sarsa.ipynb) + [Q-Learning](Reinforcemnet%20Learning/q-learning.ipynb)

+ [Suceptible-Infectious-Removed](simWUCOV.py)

## Outputs

[Quadcopter 1D](Aerial%20Robotics/Quadcopter1D.ipynb) | [Quadcopter 2D](Aerial%20Robotics/Quadcopter2D.ipynb) |[Dijkstra Algorithm](Computational%20Motion%20Planning/DijkstraGrid/DijkstraAlgorithm.ipynb)|[A-star Algorithm](Computational%20Motion%20Planning/Astar/AstarAlgorithm.ipynb)

:-------------------------:|:-------------------------:|:--:|:--:

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[Configuration Space](Computational%20Motion%20Planning/ConfigurationSpace/ConfigurationSpace.ipynb)|[Potential Field Path](Computational%20Motion%20Planning/PotentialFieldPlanPath/PotentialFieldPath.ipynb)|[2D Homography](Perception/Logo%20Projection/LogoProjection.ipynb)|[3D Homography](Perception/3D%20object%20projection/3D%20Homography.ipynb)

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[Optical Track](Perception/Optical%20Track/CornerTracking.ipynb)|[Point Cloud](Perception/Point%20Cloud/PointCloud.ipynb)|[Calibration](Perception/Calibration/calibrationviaChessBoard.ipynb)|[Kalman Filter](Estimation%20and%20Learning/Kalman%20Filter/BallPathPrediction_KalmanFilter.ipynb)

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[Occupancy Grid Map](Estimation%20and%20Learning/Occupancy%20Grid%20Map/occGridMapping.ipynb)|[Particle Localization](Estimation%20and%20Learning/Particle%20Localization/ParticleLocalization.ipynb)|[PD Control](Capstone/PD%20control/PDTrack.ipynb)|[PD Track Arm](Capstone/PD%20control/ManipTrack.ipynb)

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[Solve ODE](Capstone/ODE%20solver/Ordinary%20Differential%20Equation.ipynb)|[Estimated Kalman Filter](Capstone/Estimated%20Kalman%20Filter/EKF.ipynb)|[Mobile Inverted Pendulum](Capstone/Mobile%20Inverted%20Pendulum/MIP.ipynb)|[LQR MIP](Capstone/LQR%20MIP/LQRMIP.ipynb)

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[PID MIP](Capstone/PID%20MIP/PIDControlMIP.ipynb)|[Value Iteration](Reinforcemnet%20Learning/ValueIteration.ipynb)|[sarsa](Reinforcemnet%20Learning/sarsa.ipynb)|[Q-Learning](Reinforcemnet%20Learning/q-learning.ipynb)

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[SIR model](simWUCOV.py)|||

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