Robotics, Vision & Control: 3rd edition in MATLAB (2023)

Welcome to the online hub for the book: Robotics, Vision & Control: fundamental algorithms in MATLAB (3rd edition) Peter Corke, Witold Jachimczyk and Remo Pillat, published by Springer-Nature 2023. ISBN 978-3-031-07261-1 (hardcopy), 978-3-031-07262-8 (eBook) DOI 10.1007/978-3-031-07262-8 Report an issue with the book or its supporting code here. Known errata for the book can be viewed here.

This repo contains MATLAB code resources that support the book:

• LiveScripts, one per chapter, that provide all the code examples used in a chapter
• the RVC3 toolbox which extends the MathWorks Toolboxes and is required to run the chapter examples.
• the code that creates all the MATLAB-generated figures in the book

Accessing the chapter LiveScripts

There are two ways to do this.

1. Open in MATLAB Online™

This is the zero-install option, and requires that you have a MATLAB Online licence. MATLAB Online can work on a tablet, but not a phone.

Use the QR code at the start of a chapter that looks like this:

and then do one of the following:

• click the hotlink ▶sn.pub/KI1xtA in an e-book,
• point your tablet camera at the QR code and go to the URL, or
• type the short URL sn.pub/KI1xtA into your browser.

This will clone the repository into your MATLAB Drive and open the chapter LiveScript in a browser tab.

2. Open in desktop MATLAB session

You need to have MATLAB installed as well as the required Toolboxes. Install the extra book-specific resources

git clone git@github.com:petercorke/RVC3-MATLAB.git

or

git clone https://github.com/petercorke/RVC3-MATLAB.git

Once installed you need to open the RVC3 project which will add the RVC3 Toolbox to your path. Simply double-click the rvc3setup.prj file in the top-level folder.

Then open the appropriate file from the folder book/code where Chapter N is in a file named chapterN.mlx. You can open the file by:

• double-clicking in the MATLAB file browser, or
• from the MATLAB consolde by >> chapterN
• programatically by open("chapterN")

Required toolboxes

To run the examples in this book you need to have a MATLAB® licence, as well as a number of licenced MathWorks software products.

For Parts I, II, III:

• Robotics System Toolbox™
• Optimization Toolbox™
• Simulink®
• Symbolic Math Toolbox™
• UAV Toolbox
• Navigation Toolbox™

For Parts IV and Chap. 15

• Computer Vision Toolbox™
• Image Processing Toolbox™
• Signal Processing Toolbox™
• Deep Learning Toolbox™
• Statistics and Machine Learning Toolbox™

For Chap. 16 only:

• ROS Toolbox
• Model Predictive Control Toolbox™
• Automated Driving Toolbox™

Those shown in bold are sufficient to run a large subset of the code examples.

Apps

This package provides additional interactive tools including:

• tripleangledemo, experiment with various triple-angle sequences.

Block diagram models

These are included in the RVC3 Toolbox as files named sl_XXXX.slx which can be opened in Simulink by:

• double-clicking in the MATLAB file browser, or
• from the MATLAB consolde by >> sl_XXXX
• programmatically by open("sl_XXXX")

The main library of RVC3 Toolbox Simulink blocks can be opened by calling roblocks.

Additional book resources

This GitHub repo provides additional resources for readers including:

• The code to produce every MATLAB figure in the book, see the book/figures/code folder
• Many of the line drawings that appears as figures in the book, see the book/figures/line-drawings folder
• All example scripts, see the toolbox/examples folder.
• To run the visual odometry example in Sect. 14.8.3 you need to download two image sequence, each over 100MB:

>> fetchExampleData

MATLAB versions

This book requires that you have at least MATLAB R2023a in order to access all the required MATLAB language and toolbox features. The code examples rely on recent MATLAB language extensions:

• strings which are delimited by double quotation marks (introduced in 2016b)
• name=value syntax for passing arguments to functions (introduced in 2021a), for example, plot(x,y,LineWidth=2) instead of the old-style plot(x,y,"LineWidth",2).