Mini Course: Stochastic Methods for Robotics

Instructor: Gregory S. Chirikjian, Johns Hopkins University
Reading Materials: Slides for lectures will be distributed. Additionally, two books by the instructor may be consulted for greater detail:

• “Stochastic Models, Information Theory, and Lie Groups, Vols. 1+2'' Birkhauser, 2009, 2012
  (Available as PDF from the Georgia Tech Library).
• “Harmonic Analysis for Engineers and Applied Scientists'', Dover, 2016
  (Available from Amazon for ~$25.) 

Each lecture is a two-hour session with a 10-minute break in the middle.

Lecture 6 (June 20):

• Applications in Mobile Robotics (Parameterizing the Banana Distribution) 

• Applications to Manipulators (Workspace Density and Path of Probability)

• Applications in Kinematic Needle Steering

• Orientation Estimation and Filtering