Syllabus: CS 5970-002: Mobile Manipulation (Spring 2012)

Mobile Manipulators are robotic systems that are capable of navigating through and interacting with unstructured environments in order to perform a wide range of tasks. Designing control systems for this domain is a non-trivial process, due in part to the complexities of constructing and manipulating flexible and extensible representations of the environment, motor action and task. In this seminar course, we will study the representation, learning, planning and control techniques that are currently driving this field forward.

General Information

Course Goals and Topics

By the end of this course, you should be able to:

This is a very hands-on class: every student will be involved in the design, implementation, and programming for the project work. Note that this component of the class will involve a non-trivial amount of time; students should plan their schedules accordingly.

Topics will include:

Course Policies


Grades will be computed according to the following distribution:

In-Class Participation

All students are expected to actively participate in class discussions. Come to class with questions, ideas and demonstrations.

Paper Presentations

Each student will be responsible for presenting and leading the subsequent discussion for one week's worth of research papers (this will be either one or two papers). We will settle on the list of papers and the assignments in the first week of class. Guidelines for these presentations will be available before the first presentation.

Written Summaries

A one half page summary of each research paper is due at the beginning of class on the day that we are discussing the paper. These summaries must be handed in using D2L. Late or missing summaries will be logged as a zero grade. Guidelines for these summaries will be distributed before the first one is due.

Project Grades

The primary unit of project work is a group of 2-3 people. However, individuals may work on components on their own. Furthermore, components may be borrowed from other groups in the class or from existing repositories. Project components are turned in using our mobile manipulation subversion tree. They may be turned in any time prior to the final class presentation (but don't wait).

The rules for assessing project grades are as follows:

General Grade Issues

Copyright notice: Many of the materials created for this course are the intellectual property of Andrew H. Fagg. This includes, but is not limited to, the syllabus, lectures and course notes. Except to the extent not protected by copyright law, any sale of such materials requires the permission of the instructor.

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Andrew H. Fagg
Last modified: Tue Jan 17 11:57:49 2012