NPTEL Course: Principles of Perception and Planning for Aerial Vehicles

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This course provides the details of the important principles of perception and motion planning for aerial vehicles. They form the foundation of autonomous UAV navigation in the presence of obstacles. The first module of the course provides the fundaments of UAV modeling and mathematical tools needed for camera-based perception and motion planning. The second module covers the principles of SLAM (simultaneous localization and mapping) using monocular camera. Third module provides the algorithms for UAV motion planning. The last module illustrates the entire pipeline of obstacle detection using camera, camera based SLAM, followed by obstacle avoidance and reaching goal point along the planned path using ROS (Robotic Operating system).