Lecture Slides

I have created various slide decks during my Ph.D. to create training material for our lab group.

Batch Estimation

Maximum A Posteriori nonlinear least-squares state estimation.

Sliding Window Filter

Constant-time, constant-memory version of batch estimation.

Particle Filter

The classic nonlinear, non-Gaussian, Monte-Carlo-based state estimator.

Graph Theory

The absolute basics, and some example decentralization problems in robotics.

Neural Networks

Core tool in deep learning. Credit is given to Jonathan Arsenault and Vassili Korotkin for helping me make these.