16-833: Robot Localization and Mapping

Robot localization and mapping are fundamental capabilities for mobile robots operating in the real world. Even more challenging than these individual problems is their combination: simultaneous localization and mapping (SLAM). Robust and scalable solutions are needed that can handle the uncertainty inherent in sensor measurements, while providing localization and map estimates in real-time. We will explore suitable efficient probabilistic inference algorithms at the intersection of linear algebra and probabilistic graphical models. We will also explore state-of-the-art systems.

TA, Robotics Institute, Carnegie Mellon University, 2021

16-384: Robot Kinematics and Dynamics

This class focuses on the kinematics, dynamics and programming of robotic mechanisms. The fundamental techniques apply to robotic arms, mobile robots, active sensor platforms and other computer-controlled kinematic linkages. Arms are the primary application, and we will study 2D and 3D concepts using motors from Hebi Robotics. Website

Head TA, Robotics Institute, Carnegie Mellon University, 2020


Motion Planning (Advanced)

An overview of newer motion planning methods as well as a walkthrough on how to use OMPL. Co-hosted with Brady Moon. Repo Slides Video

Summer School, AirLab, Field Robotics Center, CMU, 2020