605.613.8VL - Introduction to Robotics

Course Structure

The course materials are divided into modules which can be accessed by clicking Course Modules on the course menu. A module will have several sections including the overview, content, readings, discussions, and assignments. You are encouraged to preview all sections of the module before starting. Most modules run for a period of seven (7) days, exceptions are noted in the Course Outline. You should regularly check the Calendar and Announcements for assignment due dates.

Course Topics

1. Robotic Operating System
2. Coordinate Systems
3. Vehicle Kinematics
4. Kinematic Chains and Manipulators
5. Controls
6. Sensors
   
7. Obstacle Avoidance
8. Path Planning (Discrete)
9. Path Planning (Continuous)
10. State Estimation
11. Localization
12. Simultaneous Localization and Mapping
13. Reinforcement Learning

Course Goals

By the end of this course, the student will be able to:

1. Compute coordinate transforms in 3 dimensions and describe a robotic system from different reference frames
2. Describe how publish and subscribe architectures for robotic systems work
3. Use kinematic equations of motion for wheeled robots to compute its trajectory
4. Solve inverse kinematics for a robotic arm to determine how to move the end-effector to a specific point in space
5. Select sensors for a robotic system and explain their function
6. Explain how to use readings from an encoder and range sensor to determine how far a robot has traveled.
7. Apply a Kalman filter to estimate the state of a simulated robot
8. Explain the differences between different path planning algorithms and in what situations each one should be utilized
9. Implement a collision avoidance algorithm for a wheeled robot
10. Understand the principles behind robotic localization and how it can be applied to mapping environments.
11. Write a reinforcement learning algorithm for a robotic navigation environment.

Course Learning Outcomes (CLOs)

• Learn how to perform coordinate system transforms and apply them to controlling kinematic systems
• Write an estimator and controller for a simulated robot.
• Explain the differences between different path planning algorithms and when thy should be applied.

Textbooks

Choset, et. al.

Principles of Robot Motion: Theory, Algorithms, and Implementation

ISBN: 9780262033275

Required Software

Anaconda, Docker

Student Coursework Requirements

It is expected that each module will take approximately 7–10 hours per week to complete. Here is an approximate breakdown: reading the assigned sections of the texts (approximately 2–3 hours per week) as well as some outside reading, listening to the audio annotated slide presentations (approximately 2–3 hours per week), and programming assignments (approximately 3–4 hours per week).

This course will consist of the following basic student requirements:

Assignments (50% of Final Grade Calculation)

Assignments will consist of a series of programming assignments and demonstrations. Students will be expected to submit working code, as well as written documentation showing screenshots with descriptions of their methodology. Each assignment will be graded based upon whether the code functions as expected and the clarity of the documentation. 

All assignments are due according to the dates in the Calendar.

Late submissions can be submitted up to one week after the due date for a letter grade deduction. Afterwards no credit will be awarded. (no exceptions without prior coordination with the instructors).

Coding assignments are evaluated by the following grading elements:

1. All functions described in the assignment are implemented (20%)
2. The software runs and operates as described in the assignment (30%) (For example the simulator runs and the robot drives across the room)
3. The algorithms to be implemented were done so correctly (20%)
4. Additional documentation requested in the assignment is complete and clear (30%)

Qualitative assignments are graded as follows:

• 100–90 = A—The code is fully functional, the algorithms implemented correctly, and the documentation clear.
• 89–80 = B—The code is fully functional, there may be a minor mistake in the algorithm, and the documentation is complete.
• 79–70=C— The code runs but does not function as expected, algorithm shows that it was attempted but flawed, the documentation describes the difficulties encountered during the implementaiton.
• <70=F— The code does not run, the algorithm is incorrectly implemented, or the documentation does not cover everything described in the assignment.

Midterm Project (25% of Final Grade Calculation)

A midterm project will be assigned near the beginning of class and will be due halfway through the semester.. This will involve developing a robot simulation that draws the topics covered in the first half of the course. The midterm project should be expected to take significantly longer than a normal assignment, as indicated by its greater contribution to the overall grade.

The midterm project may only be submitted up to one week late.

The midterm project is evaluated by the following grading elements:

1. Performance of the simulated robotic system (as described in Course Project Description) (45%)
2. Cleanliness and understandability of the code (as described in Course Project Description) (25%)
3. Accurate implementation of the algorithms described in class (as described in Course Project Description) (30%)
   

Midterm Project is graded as follows:

• 100–90 = A—The simulated robotic system functions as described in the course project description, the code is clean and has comments
• 89–80 = B— The simulated robotic system functions as described in the course project description, the code lacks comments or uses ambigious function or variable names.
• 79–70 = C— The simulated robotic system runs but fails to function as in the course project description, the code is poorly formatted and lacks comments.

Course Project (25% of Final Grade Calculation)

A course project will be assigned several weeks into the course. This will involve developing a robot simulation that draws upon all the previous assignments during the course. Students are expected to create a presentation where they describe their approach to solving the robotic mission and demonstrating their robotic simulation in action.

The course project may not be submitted late. The student is unable to attend the final lecture to give their presentation they must make arrangements with the instructor at least 3 weeks in advance to give their presentation during an earlier class period.

The course project is evaluated by the following grading elements:

1. Performance of the simulated robotic system (as described in Course Project Description) (40%)
2. Cleanliness and understandability of the code (as described in Course Project Description) (10%)
3. Technical understanding of algorithms used conveyed during the presentation (as described in Course Project Description) (20%)
4. Detailed description of design process during the presentation (as described in Course Project Description) (10%)
5. Documentation of what code was written and how to run it(Course Project Description) (10%)

Course Project is graded as follows:

• 100–90 = A—The simulated robotic system functions as described in the course project description, the code is clean and has comments, the presentation clearly describes the technical approach and challenges of designing the sytem.
• 89–80 = B— The simulated robotic system functions as described in the course project description, the code lacks comments or uses ambigious function or variable names, the presentation does not describe the techincal appraoch in detail.
• 79–70 = C— The simulated robotic system runs but fails to function as in the course project description, the code is poorly formatted and lacks comments, the presentation does not describe what went wrong during the design process.

Grading Policy

Assignments are due according to the dates posted in your Blackboard course site. You may check these due dates in the Course Calendar or the Assignments in the corresponding modules. I will post grades one week after assignment due dates.

A grade of A indicates achievement of consistent excellence and distinction throughout the course—that is, conspicuous excellence in all aspects of assignments and discussion in every week.

A grade of B indicates work that meets all course requirements on a level appropriate for graduate academic work. These criteria apply to both undergraduates and graduate students taking the course.

EP uses a +/- grading system (see “Grading System”, Graduate Programs catalog, p. 10).

100-98 = A+97-94 = A93-90 = A−89-87 = B+86-83 = B82-80 = B−79-77 = C+76-73 = C72-70 = C−69-67 = D+66-63 = D

Final grades will be determined by the following weighting:

Course Policies

Academic Policies

Deadlines for Adding, Dropping and Withdrawing from Courses

Students may add a course up to one week after the start of the term for that particular course. Students may drop courses according to the drop deadlines outlined in the EP academic calendar (https://ep.jhu.edu/student-services/academic-calendar/). Between the 6th week of the class and prior to the final withdrawal deadline, a student may withdraw from a course with a W on their academic record. A record of the course will remain on the academic record with a W appearing in the grade column to indicate that the student registered and withdrew from the course.

Academic Misconduct Policy

All students are required to read, know, and comply with the Johns Hopkins University Krieger School of Arts and Sciences (KSAS) / Whiting School of Engineering (WSE) Procedures for Handling Allegations of Misconduct by Full-Time and Part-Time Graduate Students.

This policy prohibits academic misconduct, including but not limited to the following: cheating or facilitating cheating; plagiarism; reuse of assignments; unauthorized collaboration; alteration of graded assignments; and unfair competition. Course materials (old assignments, texts, or examinations, etc.) should not be shared unless authorized by the course instructor. Any questions related to this policy should be directed to EP’s academic integrity officer at ep-academic-integrity@jhu.edu.

Students with Disabilities - Accommodations and Accessibility

Johns Hopkins University values diversity and inclusion. We are committed to providing welcoming, equitable, and accessible educational experiences for all students. Students with disabilities (including those with psychological conditions, medical conditions and temporary disabilities) can request accommodations for this course by providing an Accommodation Letter issued by Student Disability Services (SDS). Please request accommodations for this course as early as possible to provide time for effective communication and arrangements.

For further information or to start the process of requesting accommodations, please contact Student Disability Services at Engineering for Professionals, ep-disability-svcs@jhu.edu.

Student Conduct Code

The fundamental purpose of the JHU regulation of student conduct is to promote and to protect the health, safety, welfare, property, and rights of all members of the University community as well as to promote the orderly operation of the University and to safeguard its property and facilities. As members of the University community, students accept certain responsibilities which support the educational mission and create an environment in which all students are afforded the same opportunity to succeed academically. 

For a full description of the code please visit the following website: https://studentaffairs.jhu.edu/policies-guidelines/student-code/

Classroom Climate

JHU is committed to creating a classroom environment that values the diversity of experiences and perspectives that all students bring. Everyone has the right to be treated with dignity and respect. Fostering an inclusive climate is important. Research and experience show that students who interact with peers who are different from themselves learn new things and experience tangible educational outcomes. At no time in this learning process should someone be singled out or treated unequally on the basis of any seen or unseen part of their identity. 
 
If you have concerns in this course about harassment, discrimination, or any unequal treatment, or if you seek accommodations or resources, please reach out to the course instructor directly. Reporting will never impact your course grade. You may also share concerns with your program chair, the Assistant Dean for Diversity and Inclusion, or the Office of Institutional Equity. In handling reports, people will protect your privacy as much as possible, but faculty and staff are required to officially report information for some cases (e.g. sexual harassment).

Course Auditing

When a student enrolls in an EP course with “audit” status, the student must reach an understanding with the instructor as to what is required to earn the “audit.” If the student does not meet those expectations, the instructor must notify the EP Registration Team [EP-Registration@exchange.johnshopkins.edu] in order for the student to be retroactively dropped or withdrawn from the course (depending on when the "audit" was requested and in accordance with EP registration deadlines). All lecture content will remain accessible to auditing students, but access to all other course material is left to the discretion of the instructor.