CS 4023/5023 — Introduction to Intelligent Robotics — Spring 2017
- Course Title:
- Introduction to Intelligent Robotics
Devon Energy Hall 242, 405-325-3150,
- Teaching Assistant:
Devon Energy Hall
- Class Hours:
- Tuesday, Thursday, 1:30-2:45, Felgar Hall 300
- Office Hours:
- Dean Hougen:
- Tuesday 11:00-12:00, Friday 11:00-12:00; Felgar Hall 300
- Marissa Beene:
- Monday 11:30-12:30, Friday 1:30-2:30; Felgar Hall 300
- Required Text Books:
- Each student is required to have his or her own copy of the
- Required for both 4023 and 5023:
Computational Principles of Mobile Robotics, Second Edition,
Gregory Dudek and Michael Jenkin, 2010, Cambridge University Press.
(ISBN 978-0-521-69212-0 paperback or 978-0-521-87157-0 hardback)
- Required for 5023:
Writing for Computer Science, Third Edition, Justin Zobel, 2014,
Springer. (ISBN 978-1-4471-6638-2)
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 prerequisites for this course are CS 2413 (Data Structures) and CS
2813 (Discrete Structures) or Math 2513 (Discrete Math) 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 Deliberative Paradigm
- Reactive Robots
- Ethology for Roboticists
- Architectures and Methodologies
- Hybrid Deliberative/Reactive Robots
- Multiple Robots
- Topological Path Planning
- Metric Path Planning
- Localization and Mapping
- ABET Student Outcomes to be addressed:
A: An ability to apply knowledge of computing and mathematics appropriate to the discipline.
B: An ability to analyze a problem, and identify and define the computing requirements appropriate to its solution.
C: An ability to design, implement, and evaluate a computer-based system, process, component, or program to meet desired needs.
D: An ability to function effectively on teams to accomplish a common goal.
F: An ability to communicate effectively with a range of audiences.
H: Recognition of the need for and an ability to engage in continuing professional development.
I: An ability to use current techniques, skills, and tools necessary for computing practice.
K: An ability to apply design and development principles in the construction of software systems of varying complexity.
- 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.)
Homework (6, drop lowest)
Group Project 1 (Simulation)
Group Project 2 (Real Robots)
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 lecture
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 lecture sessions. In other
words, you are responsible for the UNION of these sources of
knowledge, as depicted by the entire 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 losing points, turn in the assignment ahead of time.
You will be turning in electronic copies of all projects and homeworks.
(For projects, because they are to be done in groups, only one electronic
copy needs be submitted per group regardless of the group size.)
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 OU’s
academic integrity website.
Any student with a disability should contact the instructor so that
reasonable accommodations may be made for that student.
- Adjustments for Pregnancy/Childbirth Related Issues:
Should you need modifications or adjustments to your course requirements because of documented pregnancy-related or childbirth-related issues, please contact me as soon as possible to discuss. Generally, modifications will be made where medically necessary and similar in scope to accommodations based on temporary disability. Please see http://www.ou.edu/eoo/faqs/pregnancy-faqs.html for commonly asked questions.
- Title IX Resources
For any concerns regarding gender-based discrimination, sexual harassment, sexual misconduct, stalking, or intimate partner violence, the University offers a variety of resources, including advocates on-call 24.7, counseling services, mutual no contact orders, scheduling adjustments and disciplinary sanctions against the perpetrator. Please contact the Sexual Misconduct Office 405-325-2215 (8-5) or the Sexual Assault Response Team 405- 615-0013 (24.7) to learn more or to report an incident.
- Drop Policy:
Any student who fails to attend the first week of class may be
dropped from the class.
It is the policy of the University to excuse the absences of students
that result from religious observances and to provide without penalty for
the rescheduling of examinations and additional required class work that
may fall on religious holidays.
- Related Documents:
- Students should also read the related documents on Replacement
Assignments or Extensions and Discussions
of Scores and Grades.