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The Duckietown Instructor Manual - daffy
The Duckietown Instructor Manual
Introduction
Who Should Read This Book?
How to Get Started
How to Use This Book
Quickstart Guide
The Professor’s journey
Available Resources
Overview
Lecture Slides and Recordings
Introductions to Duckietown
Getting started
Autonomy and Automation
Autonomous Vehicles
Robots
Architectures in Robotics
Testing
Signal Processing
Networking
Full Introductory Lectures
Tools
Containerization
Middlewares and the Robot Operating System (ROS)
Git
Modeling
Robot Representations
Modeling a Differential Drive Robot
Full Lecture on Modeling
Control Systems
Introduction to Control Systems
Odometry
PID Control
Full Lecture on Control
Computer Vision
Projective Geometry
Camera Calibration
Image Filtering
Full Lectures on Computer Vision
Visual Perception
Introduction to Visual Perception
Introduction to Neural Networks
Deep Convolutional Neural Networks
Object Detection
Full Lectures on Visual Perception
State Estimation
Probabilistic Representations
Bayes Filter
Kalman Filter
Particle Filter
Histogram Filter
Full Lecture on Filtering
Robust Estimation
Full Lecture on Simultaneous Localization and Mapping
Planning
Motion Planning
Planning on Graphs
Sampling-based Planning
Full Lecture on Planning
End-to-End Learning Approaches
Markov Decision Processes
Policy Iteration
Q Learning
Simulation and Sim-to-real
Full Lecture on Reinforcement Learning
Imitation Learning
Advanced Topics
Multi-vehicle Planning
Safety
Estimating Uncertainty
Estimation from Motion Blur
Activities and Exercises: Learning Experiences (LXs)
Evaluation
Duckietown Simulator
The Code Structure
Duckietown Hardware
Projects
Student Project Ideas
Support
Design Considerations
Prerequisites
Instructor background
Student background
Space, infrastructure and equipment
Class Composition
Intended Learning Outcomes
Course Structure
Common Pitfalls
Getting Student Feedback
Duckietown Spirit
Sample Curricula
Graduate level
Autonomous Vehicles (IFT 6757) at the University of Montreal / Mila
ETH Zurich
Undergraduate level
EECE 5560 at the University of Massachusetts Lowell
High School level
Self-Driving Cars with Duckietown (MOOC)
repository
open issue
Index
