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Class Policies
I400/I590/B659: Intelligent Robotics

Instructor

Kris Hauser

Office: Info East 257

Phone: 856-7496

Email: hauserk at indiana.edu

Office hours: Tu 1:00-2:00

Associate Instructor

Dan Coroian

Office: Info West 001

Phone:

Email: dcoroian at indiana.edu

Office hours: MW 11:30-12:30

Prerequisites

Two semesters of programming, calculus. Python and Linux experience strongly recommended.

Textbook

Choset, Lynch, Hutchinson, Kantor, Burgard, Kavraki, and Thrun.  Principles of Robot Motion: Theories, Algorithms, and Implementations.  MIT Press, Boston, 2005.

Meeting times

Classes meet on Monday and Wednesday, 09:30-10:45AM in Ballantine Hall, 242.

Coursework

Students must read the assigned readings before class, and must be prepared to discuss the material during class.  Labs will be assigned roughly on a weekly basis and must be turned in on Oncourse by the beginning of class on the due date.

Students enrolled in the I590, H400, and B659 sections of the course are required to complete the lab questions marked with a star (*). Students enrolled in I400 are not required to answer these questions.

Students will work on a semester-long project on a topic chosen along with the instructor’s guidance.  Students will work in small groups (typically 3-5) with at least one graduate student on each group. Teams will give 1) a midterm presentation, 2) a final presentation, and 3) a final report.

The hardware platform for the project will be the Sphero robot although in some cases a simulated robot may be used instead.  Topics for Sphero may include, but are not limited to:

-       Navigating around complex obstacles

-       Multi-robot formation control

-       Multi-robot coordinated navigation

-       Optimal point-point motion

-       High speed trajectory tracking

-       Following a human-controlled robot

Topics in simulation may include, but are not limited to:

-       Pick and place manipulation planning

-       Bipedal balance control

Each team member will also turn in a peer review form for each other member of the group in order to assign credit to individuals who made significant contributions to the project. Groups are recommended to divide the work among teammates by high-level task, such as communications, sensing, feedback control, planning, UI development, and system integration.

Grading policy

The final grade will be comprised of homework (40%) participation (10%), mid-term project presentation (10%), final project presentation (20%), and final project report (20%) grades.  The participation grade will be comprised of attendance and in-class discussion.