Algorithms for Robotics
CIS
4930/6930
Fall
2010
Schedule: T R: 12:30 – 13:45
Lecture location: CHE 302
Instructor: Yu Sun
Office hours: T R: 14:00 – 15:00 or by appointment.
T.A.: N/A
T.A. Office hours: N/A
Textbook(s) and/or other required material
Principles of Robot Motion: Theory, Algorithms, and
Implementations
ISBN-10:
0-262-03327-5
ISBN-13:
978-0-262-03327-5
Probabilistic Robotics
ISBN-10:
0-262-20162-3
ISBN-13:
978-0-262-20162-9
Course
Description: This course will introduce students to a set of algorithms for robot
motion analysis and planning, based on a solid mathematical foundation.
Prerequisites:
Probability/statistics, linear algebra, data structure, and some basic knowledge of robot
kinematics.
Tentative Course Topics:
Motion Planning (week 1-4)
Review
Kinematics
Configuration
Space
Potential Field
Roadmap
Sample-based
Motion Planning
(Programming homework 1 -- 20%)
SLAM (week 5-8)
Localization:
Kalman filter, particle filter
Mapping
Simultaneously
Localization and Mapping
(Programming homework 2 -- 20%)
Learning (week 9-13)
Perception
and Motion Modeling
Learning
by Demonstration
Reinforcement
Learning
(Programming homework 3 -- 20%)
Final Project – (week 12-15, 40%)
Final Report – week 16
Assessment and Grading
Assignments: 60%
Project: 40%
Tentative Grading Scale
The tentative grading scale could be as follows.
97 -- 100 A+
93 --
96 A
90 --
92 A-
87 --
89 B+
83 --
86 B
80 --
82 B-
77 --
79 C+
73 --
76 C
70 --
72 C-
65 --
69 D+
60 --
64 D
0
-- 59 F
Instruction for Programming Environment
All program assignments should be implemented in
either standard C++ or Matlab.
H1N1 virus issues
In the unlikely event of a school closure due to the H1N1 flu
virus, alterations in course contents/ and or structure may be necessary.
Please find more information http://www.shs.usf.edu/userfiles/files/H1N1web080609.pdf
Procedures
for Alleged Academic Dishonesty or Disruption Of Academic Process:
See current
undergraduate catalog.
http://www.ugs.usf.edu/catalogs/0405/adadap.htm
(Or search for
"cheating")
Departmental Policy:
All students enrolled in courses taught by the Computer Science
and Engineering Department are advised that unless an instructor specifies
otherwise, all work done in homework, programming, or exams must be the result
of a student’s individual effort.
Students who copy, or who provide material for others to copy, or who show dishonesty in their work as
described in the university catalog, will be subject to disciplinary action,
typically the receipt of a failing grade in the course, but also possible
academic dismissal from the program.
Course
Policies:
Programming homework/projects will be graded. It is OK to discuss homework/projects
with other students, but outright copying is not acceptable.
n Don't copy anyone else’s work.
n Don't let anyone copy your work.
n We will check!
n Homework/projects must be submitted on
time.
n Late homework/projects will not be graded,
get an automatic 0.
Communications:
n Be sure you can log in and can find this
class under the Courses tab.
n Be sure you can find Assignments for this
class.
n USF email will be used for any last-minute
announcements.
n Be sure you can receive messages.
n Don't let backlog exceed your quota.
Disabilities, Absences:
n Students with disabilities are encouraged
to consult me as soon as possible.
If accommodations are needed, a letter from the Office of Student
Disability Services (SVC1133) will be required. Please inform me if there is a need for alternate format for
documents or a note taker.
n Religious Observances
n Students who anticipate the necessity of
being absent from class due to the observation of a major religious observance
must provide notice of the date (or dates) to me, in writing, by the second
class meeting.
n Athletic Events
n Students who must miss an exam due to
participating in a varsity athletic event should contact me two weeks in
advance in order to make alternative arrangements.