Robotics and Autonomous Systems

  1. Localization and State Estimation
    1. Localization Problem Formulation
      1. Global Localization
        1. Position Tracking
          1. Kidnapped Robot Problem
            1. Multi-hypothesis Tracking
            2. Probabilistic State Estimation
              1. Uncertainty Modeling
                1. Belief State Representation
                  1. Bayes Filter Framework
                    1. Recursive State Estimation
                    2. Kalman Filtering
                      1. Linear Kalman Filter
                        1. State Prediction
                          1. Measurement Update
                            1. Covariance Propagation
                            2. Extended Kalman Filter
                              1. Linearization Process
                                1. Jacobian Computation
                                  1. EKF Limitations
                                  2. Unscented Kalman Filter
                                    1. Sigma Point Selection
                                      1. Unscented Transform
                                        1. UKF Advantages
                                        2. Information Filter
                                        3. Particle Filtering
                                          1. Monte Carlo Methods
                                            1. Particle Representation
                                              1. Importance Sampling
                                                1. Resampling Strategies
                                                  1. Systematic Resampling
                                                    1. Stratified Resampling
                                                    2. Particle Degeneracy
                                                      1. Adaptive Particle Filters
                                                      2. Mapping Techniques
                                                        1. Map Representation Methods
                                                          1. Occupancy Grid Maps
                                                            1. Grid Resolution
                                                              1. Probability Updates
                                                              2. Feature-based Maps
                                                                1. Point Landmarks
                                                                  1. Line Features
                                                                    1. Geometric Primitives
                                                                    2. Topological Maps
                                                                      1. Semantic Maps
                                                                      2. Map Building Algorithms
                                                                        1. Occupancy Grid Mapping
                                                                          1. Feature Extraction and Mapping
                                                                            1. Map Merging
                                                                          2. Simultaneous Localization and Mapping
                                                                            1. SLAM Problem Formulation
                                                                              1. Online SLAM
                                                                                1. Full SLAM
                                                                                  1. Data Association Problem
                                                                                    1. Loop Closure Detection
                                                                                    2. Filter-based SLAM
                                                                                      1. EKF SLAM
                                                                                        1. State Augmentation
                                                                                          1. Computational Complexity
                                                                                          2. FastSLAM
                                                                                            1. Rao-Blackwellized Particle Filter
                                                                                              1. Tree-based Data Structures
                                                                                            2. Graph-based SLAM
                                                                                              1. Pose Graph Representation
                                                                                                1. Graph Optimization
                                                                                                  1. Robust Estimation
                                                                                                  2. Visual SLAM
                                                                                                    1. Feature-based Visual SLAM
                                                                                                      1. Direct Visual SLAM
                                                                                                        1. RGB-D SLAM
                                                                                                        2. LiDAR SLAM
                                                                                                          1. Scan Matching Algorithms
                                                                                                            1. Point Cloud Registration
                                                                                                              1. ICP Algorithm

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                                                                                                          3. Sensors and Perception

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                                                                                                          5. Planning and Navigation