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Rusty Flying Robots: Learning a Full Robotics Stack with Real-Time Operation on an STM32 Microcontroller in a 9 ECTS MS Course

Wolfgang Hoenig, Christoph Scherer, Khaled Wahba

Abstract

We describe a novel masters-level projects class that teaches robotics along the traditional robotics pipeline (dynamics, state estimation, controls, planning). One key motivational part is that students have to directly apply the algorithms they learn on a highly constrained compute platform, effectively making a robot fly. We teach nonlinear algorithms as deployed in state-of-the-art flight stacks such as PX4. Didactically, we rely on two core concepts: 1) avoidance of provided black-box software infrastructure, and 2) usage of the safe and efficient programming language Rust that is used on the PC (for simulation) and an STM32 microcontroller (for robot deployment). We discuss our methodology and the student feedback over two years with ten students each. Teaching material: https://imrclab.github.io/teaching/flying-robots

Rusty Flying Robots: Learning a Full Robotics Stack with Real-Time Operation on an STM32 Microcontroller in a 9 ECTS MS Course

Abstract

We describe a novel masters-level projects class that teaches robotics along the traditional robotics pipeline (dynamics, state estimation, controls, planning). One key motivational part is that students have to directly apply the algorithms they learn on a highly constrained compute platform, effectively making a robot fly. We teach nonlinear algorithms as deployed in state-of-the-art flight stacks such as PX4. Didactically, we rely on two core concepts: 1) avoidance of provided black-box software infrastructure, and 2) usage of the safe and efficient programming language Rust that is used on the PC (for simulation) and an STM32 microcontroller (for robot deployment). We discuss our methodology and the student feedback over two years with ten students each. Teaching material: https://imrclab.github.io/teaching/flying-robots

Paper Structure

This paper contains 9 sections, 1 figure.

Table of Contents

  1. Motivation
  2. Related Educational Concepts
  3. Methodology
  4. Simulation (4 weeks)
  5. Controls (4 weeks)
  6. State Estimation (3 weeks)
  7. Planning (3 weeks)
  8. Results
  9. Conclusion

Figures (1)

  • Figure 1: Overview of the class. There are four major parts, where students learn about mathematical foundations and implementing their own major parts of a modern flight stack. Code is written in embedded Rust and has to be successfully deployed on an STM32 microcontroller, computing control actions and state estimates in real-time.