学生用Rust在STM32上实现实时飞行控制，全流程掌握机器人系统开发。
Rusty Flying Robots: Learning a Full Robotics Stack with Real-Time Operation on an STM32 Microcontroller in a 9 ECTS MS Course
- 全程使用Rust语言，从仿真到STM32部署，避免黑箱框架依赖。
- 10名学生在两年内完成动力学、状态估计、控制与规划的全流程开发。
- 适合想深入理解嵌入式机器人系统与实时编程的学生。
我们介绍一门新型硕士项目课程，教学内容涵盖传统机器人学全流程：动力学、状态估计、控制与规划。核心教学动机是学生必须将所学算法直接部署于计算资源高度受限的平台，真正实现机器人飞行。课程教授非线性算法，并以当前最先进的飞行栈（如PX4）为参考。教学方法基于两大理念：一是避免使用现成的黑箱软件框架；二是采用安全高效的编程语言Rust，既用于计算机仿真，也用于STM32微控制器上的实际部署。本文回顾了两年内每届10名学生的教学实践与反馈。教学材料见：https://imrclab.github.io/teaching/flying-robots
原文摘要 · Abstract (English)
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
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