Robotics Controls & Software

by R. Gariepy

Survey Material

• "Introduction to Autonomous Mobile Robots" by Siegwart & Nourbakhsh (DC Call #: TJ211.415.S54 2004)

Controls/State Estimation

• PID on Wikipedia: http://en.wikipedia.org/wiki/PID_controller
• "PID without a PhD": http://www.embedded.com/2000/0010/0010feat3.htm
• Kalman Filter references by Welch and Bishop: http://www.cs.unc.edu/~welch/kalman/
• Kalman Filter introductory paper by Welch and Bishop: http://www.cs.unc.edu/~welch/kalman/kalmanIntro.html
• Monte Carlo Localization: http://www.ri.cmu.edu/publication_view.html?pub_id=533
• "Probabilistic Robotics" by Thrun, Burgard, and Fox (DC Call #: TJ211.T575 2005)
• Ryan's source code from Intro to Controls #3: http://robotics.uwaterloo.ca/files/Control_Demo.rar

Software Development

• "How to design a good API": http://www.youtube.com/watch?v=aAb7hSCtvGw
• "Global state and singletons": http://www.youtube.com/watch?v=-FRm3VPhseI

Path Planning/Behaviour Control

• "Amit's A* Pages": http://theory.stanford.edu/~amitp/GameProgramming/
• Vector Field Histogram on Wikipedia: http://en.wikipedia.org/wiki/Vector_Field_Histogram
• Vector Field Histogram original paper: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=88137&tag=1
• "Potential Field Methods and their Inherent Limitations" by Koren & Borenstein: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=131810
• "Elephants Don't Play Chess" by Brooks: http://people.csail.mit.edu/brooks/papers/elephants.pdf

Computer Vision

• OpenCV: http://opencv.willowgarage.com/wiki/

UW Robotics Team
E3-2103A
University of Waterloo
200 University Avenue West
Waterloo, Ontario, Canada N2L 3G1
519 888 4567 ext.36156

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