Collection of ROB 501 Lecture Notes
J.W. Grizzle
Fall 2015
1
Page = 2
Rob 501 Fall 2014
Lecture 01
Typeset by: Jimmy Amin
Proofread by: Ross Hartley
Introduction to Mathematical Arguments
Notation:
N
Basic LaTeX
Julie Mitchell
This resource was adapted from
notes provided by Jerry Marsden
1
1.1
Basic Formatting
Beginning a document
\documentclasscfw_article
\usepackagecfw_graphicx, amssymb
\beginc
Rob 501 - Mathematics for Robotics
HW #9
Prof. Grizzle
Due Dec. 1, 2016
3PM via Gradescope
Remarks:
If you have been hearing about quadratic programs (QPs), well, Problem 2 is a simple case of a QP.
Y
HW # 01 Solutions
Problem 1: Good notation is everything. We let aij = [AB]ij . By the definition of matrix multiplication,
[AB]ij =
m
X
aik bkj , 1 i n, 1 j p
k=1
(a) To show: [AB]ij = Ab1 |Ab2 | . .
HW # 05 Solutions
Problem 1:
(a) < x, y >= x> y =
n
X
xi yi .
i=1
=
(i) < y, x > = y > x
n
X
yi x
i =
i=1
n
X
yi xi
i=1
=< x, y > .
(ii) < 1 x1 + 2 x2 , y > = (1 x1 + 2 x2 )> y
= 1 x>
+ 2 x>
1y
2y
=
Rob 501 - Mathematics for Robotics
HW #8
Prof. Grizzle
Due Nov. 17, 2016
3PM via Gradescope
Remarks: Start Problem 4 early enough that you can seek MATLAB help in time! Problems 1 through 3
use the mi
Rob 501 - Mathematics for Robotics
HW #5
Prof. Grizzle
Due Oct. 13, 2016
3PM via Gradescope
Remarks: Problems 1 through 4 are really quick. Problems 5 and 6 involve numerical computations. We
are gett
Rob 501 - Mathematics for Robotics
HW #7
Prof. Grizzle
Due Nov. 10, 2016
3PM via Gradescope
Remarks: Problems 1 through 5 involve calculations. Problem 5 is very important. Please spend extra time
on
Rob 501 - Mathematics for Robotics
HW #1
Prof. Grizzle
Due 3 PM on Thur., Sept 15, 2016
Where to turn in will be announced later.
Remarks: The initial lectures in Rob 501 are not required for working
HW # 02 Solutions
Problem 1: (P Q) means P and Q, whereas (P Q) means P or Q. We use for negation; see also .
(a) (P Q)=P Q
P
1
1
0
0
Q
1
0
1
0
PQ
1
0
0
0
(P Q)
0
1
1
1
P Q
0
1
1
1
(b) (P Q)=( P) ( Q)
Rob 501 - Mathematics for Robotics
HW #10
Prof. Grizzle
Due Dec 8, 2016
3PM via Gradescope
Remarks:
Final Exam is an in-class exam, similar to your midterm. It will be held on the date and time of our
Rob 501 - Mathematics for Robotics
HW #2
Prof. Grizzle
Due Sept. 22, 2016
3PM via Gradescope
Preliminaries:
Review logic symbols here: http:/en.wikipedia.org/wiki/List_of_logic_symbols
Read about trut
Rob 501 - Mathematics for Robotics
HW #3
Prof. Grizzle
Due Sept. 29, 2016
3PM via Gradescope
Preliminaries: Read Chapter 4 of Nagy.
1. Nagy, Page 117, Prob. 4.1.5 (denote the eld by
2. Nagy, Page 121,