CS 4023/5023 - Introduction to Intelligent Robotics - Spring 2009
- Course Title:
- Introduction to Intelligent Robotics
EL 128, 405-325-3150,
- Teaching Assistant:
- Class Hours:
- Monday, Wednesday, 3:00-4:15, Sarkeys Energy Center N202
- Office Hours:
- Dean Hougen: Monday 1:00-2:00 and Wednesday 10:00-11:00, EL 128
- Gerardo Gonzalez: Tuesday 2:00-3:00 and Thursday 11:00-12:00, EL 158
- Required Text Books:
- Each student is required to have his or her own copy of the
- Required for both 4023 and 5023:
Introduction to AI Robotics, Robin Murphy, 2000, MIT
Press. (ISBN 0-262-13383-0)
- Required for 5023:
Writing for Computer Science,
Second Edition, Justin Zobel, 2005, Springer. (ISBN 1-85233-802-4)
Students should read ahead the chapters and other materials that are
expected to be covered in the class period (see the class schedule). Students should always bring their
textbooks with them to class, including lectures/discussions, group work
days, and exams.
The primary means of transmitting class information to the students
will be through announcements and discussions during class time and
web pages. You are responsible for announcements made through
either or both of these means.
Occasionally, urgent information may be sent via email. You must
ensure that the email address the University has on file for you is
valid and is monitored by you. A test of the email addresses
provided by the University will be made during the second week of
class. You are responsible for notifying the instructor if you do
not receive this test email.
The best way for students to communicate with the teaching staff is
to come to scheduled office hours. If you cannot attend office hours
in person, phone calls can be accepted during office hours but
students present in the office will get priority. Email can also be
used but a quick or detailed personal response is unlikely as we get
a lot of email and responding to email can be very time
consuming. Students present in the office or on the phone will get
priority over emailed questions.
Students may communicate with one another using the discussion forums
in Desire2Learn (note the combined course for 4023/5023 in D2L) or by
other means outside of class as mutually agreed to by the students
Details of all of the communication methods follow:
Information about this class will be found on the class website.
The URL is
This page will contain links to the directory of class materials and
other important information.
Students should use the email addresses listed above. Note that we
get a lot of email. Do not expect a reply in minutes; one or
two days is more likely in most cases. If you have not heard back
within five days, please resend your message, if it is still
- Expectations and Goals:
The prerequisite for this course is CS 2413 (Data Structures) or
instructor permission. You are expected to have a sufficient
background in Computer Science to be able to support team projects
involving robots. You are expected to have a working knowledge of a
high-level object-oriented or imperative language, including a
familiarity with its basic data types and control structures. A
background in AI such as that provided by CS 4013 (Artificial
Intelligence) may be useful but is not a requirement.
This course will introduce students to the state of the art in
Intelligent Robotics and cover the principles involved.
- History of Intelligent Robotics
- The Functional Modules Approach
- Reactive Robots
- Ethology for Roboticists
- Architectures and Methodologies
- Hybrid Deliberative/Reactive Robots
- Multiple Robots
- Topological Path Planning
- Metric Path Planning
- Localization and Mapping
- Computer Accounts and Software:
All students in this class should have an account on the Computer
Science Network (CSN). This will be used for writing and testing
programs and sending and receiving materials electronically. Source
code written for the projects MUST run on these machines. You
may do your development work on whatever system you choose but it is
your responsibility to ensure that your code runs on the CSN
The graded assignments and their contribution to a student's grade are
given in the table below. (Subject to change.)
Group Project 1
Major Group Project
Technical Paper Review & Presentation
Technical Paper Comparison
All homework, exams, and technical paper projects in this course are
to be done ALONE; the work submitted by a student MUST
be the student's own.
Group work is REQUIRED for the projects; students will select
their own groups and each group will give specific roles and tasks to
its group members.
You are responsible for the material covered during the lectures
sessions, whether or not it is also found in your textbooks or other
assigned reading materials. Similarly, you are responsible for the
material found in your textbooks and other assigned reading
materials, whether or not it is also covered during the lectures
sessions. In other words, you are responsible for the UNION
of these sources of knowledge, as depicted by the shaded region of
the Venn diagram below, not merely their intersection.
You may write your programs from scratch or may start from programs
for which the source code is freely available on the web or through
other sources (such as friends or student organizations). If you do
not start from scratch, you must give a complete and accurate
accounting of where all of your code came from and indicate which
parts are original, which are changed, and which you got from which
other source. Failure to give credit where credit is due is academic
fraud and will be dealt with accordingly.
All work must properly cite sources. For example, if you
quote a source in one of your technical paper reviews, you
must include the quotation in quotation marks and clearly
indicate the source of the quotation.
Late assignments will be penalized 20% per day late. (All parts of
days will be rounded up.) After five days, you will not be able to
turn in that assignment for credit. If you are worried about turning
in the assignment late and loosing points, turn in the assignment
ahead of time. You will be turning in electronic and paper copies of
group projects. It is the electronic copy that must be turned in by
class time on the day that it is due. The paper copy is due twenty
four hours after the electronic copy. The paper copy may be
submitted in class or turned in during office hours or by slipping it
under my office door.
All exams will be open book/open notes. NO electronic devices
will be permitted in the testing area.
Copying another's work, or possession of electronic computing or
communication devices in the testing area, is cheating and grounds
for penalties in accordance with school policies.
Please see the Provost's
web pages on academic integrity.
Any student with a disability should contact the instructor so that
reasonable accommodations may be made for that student.
- Drop Policy:
Any student who fails to attend the first week of class may be
dropped from the class.
- Related Documents:
- Students should also read the related documents on Replacement
Assignments or Extensions and Discussions
of Scores and Grades.