Kinematics and Transformations Kinematics Robot Kinematics Forward Kinematics Inverse Kinematics Coordinate Transformations Coordinate Transformation 2D Transformation Homogeneous Coordinates 3D Rotations Rotation Matrix Euler Angles Axis-Angle Representation Quaternions Mapping Types of Maps Grid Mapping KD Tree Sensors & ICP Proprioceptive vs. Exteroceptive Sensors Projects TurtleBot Control and Odometry