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 
PreRequisites:  
Probability/statistics, linear algebra, data structure, and some basic knowledge of robot kinematics.

Textbooks:  
Required:  
Principles of Robot Motion: Theory, Algorithms, and Implementations ISBN10: 0262033275 ISBN13: 9780262033275  
Reference Book:  
Probabilistic Robotics ISBN10: 0262201623 ISBN13: 9780262201629 
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 4.14  
8 Sep  Wavefront  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.

Communications: 
Be sure you can log in and can find this class under the Courses tab. Be sure you can find Assignments for this class. Be sure you can receive messages. Don’t let backlog exceed your quota. 
Disabilities, Absences: 
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. 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. 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. 