Course Description
This course was taught by Dr. Simon Leonard at Johns Hopkins University.
This course surveys the development of robotic systems for navigating in an environment from an algorithmic perspective. It will cover basic kinematics, configuration space concepts, motion planning, and localization and mapping. It will describe these concepts in the context of the ROS software system, and will present examples relevant to mobile platforms, manipulation, robotics surgery, and human-machine systems.
Textbook
Principles of Robot Motion (Choset et. al.), MIT Press, 2005
Actually, there is a course website where you can download most of the lecture slides:
https://cirl.lcsr.jhu.edu/sensorbasedrobotics/
Tianyu Song 