Modelling a Quadrotor

date_range 14/03/2020

Introduction Quadrotors are rotorcrafts whose movements are driven by four motors. Particularly, two pairs of propellers rotated opposite to each other are used to generate thrusts, and hence, lift the quadrotor in the air.When neglecting aerodynamics effects, the motion of a quadrotor is contro...…

An Introduction To Kalman Filter

date_range 01/03/2019

IntroductionKalman Filter, also named Linear Quadratic Estimation, are practical algorithmsthat have been widely used in many robotic applications, such as object tracking, navigation, etc. In this post, we focus on using Kalman filter for state estimation. The main goal of using a Kalman Filter ...…

From Information Theory to Variational Inference

date_range 09/01/2019

Outline Variational Inference $(\text{VI})$ are useful methods for approximating hard-to-compute probabilisty densities. The main idea behind VI is that a target distribution $p$ of some datasetcan be estimated by introducing an approximate distribution $q$, and then, iteratively minimizingthe K...…