Syllabus •  Schedule •  Academic Integrity •  Piazza Page

Syllabus

Code of Conduct
Communication
Coursework & Grading
Policies & Accommodations
Harassment Help
Absentee and Makeup Policy

About This Class

The field of robotics is currently enjoying tremendous scientific, practical, and popular success. Robots vacuum our floors, entertain us, assist human doctors in performing delicate surgery, compete for soccer trophies, assist the elderly, defuse bombs, map abandoned coal mines, assist in search and rescue mission, locate and remove land mines, and gather invaluable scientific data from the surface of Mars. Both the science of robotics and available jobs in the robotics workforce are at an all-time high and continue to grow.

This course will cover fundamental concepts, methodologies, and algorithms related to autonomous robotics, touching on mechanical, motor, sensory, perceptual, and cognitive aspects. One of the key areas of interest is autonomy: the science of building robots that can decide what to do on their own. Specific topics covered include manipulation, wheeled location, kinematic models and constraints, mobile robot maneuverability, motion control, sensors and sensing, perception, localization, belief representations, map representations, probabilistic map-based localization, autonomous map building, planning, reacting, and navigation architectures.

Tuesday & Thursday 2:30–2:15, ITE 241

Instructor: Dr. Cynthia Matuszek (Dr M)   •   cmat@umbc.edu   •   ITE 331
Office hours: Monday & Thursday 10-11, or by appointment.

TA: Pat Jenkins   •  pjenk1@umbc.edu   •   ITE 343
Office hours: Tuesday 11-12, Wednesday 12-1, or by appointment.

Textbook:

Required: Introduction to Autonomous Mobile Robots, Siegwart, Nourbakhsh, and Scaramuzza. This bookm will be used primarily for readings.

Additional texts that provide extra information about various aspects, such as Python or ROS, may be recommended from time to time. These are supplementary, and are optional.

Prerequisites:

  • Strong programming skills, especially in Python. We will use Python as a computational vehicle for exploring the techniques and their application.
  • Boolean logic, basic probability theory and combinatorics, and complexity analysis. If you did not learn much about these topics, you may have to brush up on them on your own.
  • Probability theory/statistics, calculus, and linear algebra. Robotics is a fundamentally mathematical science, and we will rely on your math background.
  • No hardware experience is assumed or necessary. We will build and use robots, but not without instruction. (For more about the study of designing and building mechanical/electrical devices, including robots, see later robotics classes or Mechatronics in the ENME department.)

Academic Integrity:

You are absolutely required to make sure you have read and understood the Class Academic Integrity Policy. I take academic integrity extremely seriously.

Harassment, Hostility, and Inclusion

All students are entitled to a safe, respectful, and inclusive learning environment both inside and outside the classroom. This includes freedom from harassment, violence, prejudice, and exclusionary behavior toward any group. It also includes a welcoming atmosphere and appropriate accomodations for all situations. Class discussions will remain respectful of one another's views, and voices from all groups are equally welcome. This includes respectful responses to points of view we disagree with. Disagreements are welcome and valuable to the discussion; unkind, sarcastic, or dismissive comments are not. We will use one another's preferred pronouns and forms of address, and listen carefully to each other. Any form of sexual harassment or discriminatory behavior is unacceptable.

If you see someone, including the professor or TA, engaging in behavior that doesn't meet these standards, I encourage you to say something, either at the time or in private. I will take you seriously and will never retaliate for criticism. I am always available to discuss problems—in the class, in the program, or in general. (Please read the section on University guidelines, below, on what I must report.) If you have concerns about whether you might violate these guidelines accidentally or whether they protect you and your needs adequately, come talk to me. Again, you will never be retaliated against for these discussions.

If you have concerns about talking to me and/or the TA, please consider reaching out to someone in the department or one if the resources listed at the bottom of the page.

Communication

I expect all students to participate in classroom discussions, both by asking questions and by expressing opinions. In return, I will make myself available to answer questions, listen to concerns, and talk to any student about topics related to the class (or not). I welcome your feedback throughout the semester about how the course is going. In addition to regular office hours, you can schedule an appointment with me if you think one-on-one time would help.

Piazza:

We will use the discussion forum Piazza (top) extensively, including important or time-critical updates, questions and discussion, class participation, and links. The only thing we'll use Blackboard for is posting grades and turning in assignments. You are responsible for knowing the information that is posted on Piazza, including class announcements, hints, and discussion of assignments. You should join the class Piazza discussion board right away. Be sure to set your email preferences so that the messages will come regularly to an account that you actually read.

You can, and should, post questions on Piazza to be answered by your fellow students and/or TA and professor. General questions (i.e., anything that another student may also be wondering about) should be posted here, rather than sent to the professor and TA. Responses posted by students to questions on Piazza must follow the academic integrity guidelines outlined above, so it's okay to post about questions about the assignment, resources you're using, clarifications to the question, and general approaches—just don't post code (either in questions or answers).

Email:

Any course-related email must be sent to the professor and the TA. If you send email just to the professor, it may be answered late (or just lost). We will make a concerted effort to answer e-mail that goes to both professor and TA in 24-48 hours; however, Piazza posts will get faster responses.

Coursework and Grading

Course grades will be based on the following work. The final weighting may be changed slightly.

  • Homework: 20% (Either 5 or 6 biweekly assignments that may be worked on individually or, as announced, in small groups)
  • Course project: 30%
  • Midterm exam: 15%
  • Final exam: 20%
  • Class participation: 15% — Coming to class, asking questions, doing surveys and quizzes, ...

Late Work:

I expect good time management, but collisions (such as conference attendance) can always happen. We will address these on a case-by-case basis; the sooner you let us know there's a conflict, the better. Extensions of up to one week may be granted on an individual basis by the instructor in some circumstances, if requested well in advance. Repeated requests for extensions, or requests for extensions less than a week ahead, will be denied other than in extraordinary circumstances or per arranged accommodations.

Homeworks will be due by 11:59pm on the due date unless something else has been posted. They are due the day before the relevant lecture on the schedule. Turnin date is determined by Blackboard. This means that if Blackboard says something is late, it is late. You can turn in multiple versions of an assignment; we will grade the last one.

Work turned in after the due date will accrue a 25% late penalty per day unless arrangements have been made in advance with the professor.

Please do not ask us to change or waive the late penalty unless something extraordinary happens.
If Blackboard says something is late, it is late. The late penalty is firm.

Classroom Policies

Students with Accommodations

The office of Student Disability Services (SDS, https://sds.umbc.edu) works to ensure students can access and take advantage of UMBC's educational environment, regardless of any disabilities. I am committed to ensuring that you have access to all materials and arrangements that will allow you to succeed in this and every course. Please don't hesitate to discuss accommodation issues with me.

Absentee and Makeup Policies

First of all, please note that one of the classroom policies is to stay home when you are sick. This is for everyone's protection. I do not require documentation or a doctor's note in most cases. If you (1) miss more than 2 consecutive classes, or (2) your outage causes you to need a different class schedule (e.g., extensions on a homework or you miss a quiz or exam). In these cases, talk to me about whether I need any documentation.

Barring illness, attending class regularly is part of your student participation grade, and you are responsible for knowing material or announcements that are covered in lecture. That said, I do not take attendance, and I am aware that occasionally people encounter conflicts, get sick, etc. The occasional absence is acceptable, although a quick email to me and the TA explaining the situation is appreciated. If you miss class, it's your responsibility to make sure you have the material you need to catch up, which may include coming to office hours or setting up an appointment. We are always available for this, regardless of the reason you fell behind.

If you are missing class regularly, this will affect both your participation grade and your ability to keep up with the material. If there is a reason (medical issues, family situation, transportation, etc.), please talk to me as soon as it starts becoming a problem so we can come up with a plan.

Rescheduling

Some absences will result in missing deadlines, quizzes, or exams. In cases of foreseeable absence, such as a scheduled trip, you must notify me in advance in order to receive extensions or to reschedule. In cases of unforeseeable absence such as a medical emergency or severe illness, contact me as soon as you can, before class if at all possible. While you are never guaranteed receive extensions or chances to reschedule, I will work with you on a case-by-case basis to find the best solution.

Please also see the SDS's recommended syllabus statement about accommodations and disability.

Harassment and Inclusion Help

Any student who has experienced sexual harassment or assault, relationship violence, stalking, or discrimination is strongly encouraged to seek support and resources. There are a number of resources available to you. I am always available to discuss any concerns. My goal is to listen, support you (personally and institutionally), answer questions, and help you take action or solve problems.

Please be aware that in some cases (sexual assault, domestic violence, relationship violence, stalking, or gender-based harassment), I and other faculty are required to report the existence of a problem to the university so they can inform you of resources available, and ensure your safety and that of other students. You will not be forced to to file a police report, but be aware that the University may take action.

If you need to speak with someone in confidence about an incident, UMBC has the following Confidential Resources available to support you:

  • The Counseling Center: 410-255-2742 (M-F 8:30-5)
  • University Health Services: 410-455-2542 (M-F 8:30-5)
  • For after-hours emergency consultation, call the police at 410-455-5555
Other, non-confidential resources (they must report harassment/violence):
  • The Women's Center (available to students of all genders): 410-455-2714 (M-Th 9:30-6, F 9:30-4)
  • Title IX Coordinator: 410-455-1606 (9-5)

Child Abuse and Neglect: Please note that Maryland law requires that I report all closure or suspicions of child abuse or neglect to the Department of Social Service and/or the police.