CIS 4930/6930 Algorithms for Robotics

-- Fall 2011



Schedule: T & TH 12:30 pm - 1:45 pm
Location: CHE 302
Instructor: Yu Sun (contact information)
Office Hours: ENB 331, T & TH 1:45 pm - 3:15 pm
TA: No
TA Hours: No

Objectives:
Students will be taught -
1. Robot motion planning
2. SLAM
3. Robot learning

Pre-Requisites:
Probability/statistics, linear algebra, data structure, and some basic knowledge of robot kinematics.
Textbooks:
Required:
Principles of Robot Motion: Theory, Algorithms, and Implementations ISBN-10:
0-262-03327-5
ISBN-13:
978-0-262-03327-5
Reference Book:
Probabilistic Robotics ISBN-10:
0-262-20162-3
ISBN-13:
978-0-262-20162-9

Schedule (tentative):
Date Topics and notes Reading Homework Due
23 Aug Introduction
25 Aug Review Kinematics Handout
30 Aug Confituration Space Chapter 3 HW1
1 Sep Cancelled
6 Sep Potential Field Chapter 4.1-4
8 Sep Wave-front Chapter 4.5
13 Sep Roadmaps and Cell Decompostions Chapter 5 and 6 HW2 HW1
15 Sep PRM Chapter 7
20 Sep Kalman Filter Chapter 8.1 8.2
22 Sep Kalman Filter Chapter 8.3 8.4 Lab 1 handout
27 Sep Lab 1 section 1 HW2
29 Sep Lab 1 section 2
4 Oct Kalman Filter Chapter 8.3 8.4 HW3
6 Oct Kalman Filter for mobile robots Chapter 8.4
11 Oct Midterm
13 Oc Midterm revisit
18 Oct Kalman Filter Examples
20 Oct Bayes Filter Chapter 9
25 Oct Particle Filter Chapter 9
27 Oct Particle Filter Chapter 9 HW4 HW3
1 Nov Mapping Chapter 9
3 Nov Mapping Chapter 9
8 Nov SLAM Chapter 9
10 Nov Sensors - Cameras Lab 2 Handout HW4
15 Nov Lab 2 Section 1
17 Nov Lab 2 Section 2
22 Nov Learning from Demonstration HW5
24 Nov Holiday
29 Nov Final review
1 Dec Final


Homework:
Most of the homework has programming problems that can be completed in Matlab or C++.


Grading:
30% homework (6% for each assignment)
20% labs (10% for each lab)
20% midterm exam
30% final exam

Attendance assessed through pop quizzes:
Five pop quizzes will be given for total 5% extra points (1% each) adding to the final grade. They will consist each of a simple question that you should be able to answer in 2 or 3 minutes. The questions will always relate to the last lecture.


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


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 Policy:
Programming homework/projects will be graded. It is OK to discuss homework/projects with other students, but outright copying is not acceptable.
  • Don’t copy anyone else’s work.
  • Don’t let anyone copy your work.
  • We will check!
  • Homework/projects must be submitted on time.
  • Late homework/projects will not be graded, get an automatic 0.
  • Departmental policy will apply to exams.

    • Communications:
  • Blackboard ( https://my.usf.edu/ ) will be used for all program submissions.

    Be sure you can log in and can find this class under the Courses tab.
    Be sure you can find Assignments for this class.

  • USF email will be used for any last-minute announcements.

    Be sure you can receive messages.
    Don’t let backlog exceed your quota.

    • Disabilities, Absences:
  • Disabilities
    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.

  • Religious Observances
    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.

  • Athletic Events
    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.


    • * Every part of this syllabus is subject to adjustment.