This course investigates the motion planning problem in robotics. Topics include motion of rigid objects by the configurations space and retraction approaches, shortest path motion, motion of linked robot arms, compliant motion, coordinated motion of several objects, robust motion with error detection and recovery, and motion in an unknown environment
No prerequisites are required for this course, however it is strongly recommended that students have the following background: Basic MATLAB coding, Linear Algebra, and Robot Kinematics.
The course materials are divided into modules which can be accessed by clicking Modules on the 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 on the Course Outline page. You should regularly check the Calendar and Announcements for assignment due dates.
Module topics include:
By the completion of this course, students will be able to identify, characterize, and apply solutions to the basic robot motion planning problem. Students will be able to apply conceptual and theoretical knowledge to simulated, discrete systems to enumerate and visualize results. Students will be able to explain the limitations of the explored methods and identify natural improvements to apply these methods to real-world problems.
Latombe, Jean-Claude (1991). Robot Motion Planning. New York, NY: Springer US
ISBN: 978-0-7923-9206-4 (Print)
978-1-4615-4022-9 (Online)
Spong, Mark W. (2005). Robot Modeling and Control. New York, NY: Wiley.
ISBN-13: 978-0471649908
ISBN-10: 0471649902
Thrun, Sebastian, Burgard, Wolfram, Fox, Dieter (2005). Probabilistic Robotics. Cambridge, MA: MIT Press.
ISBN: 9780262201629
ISBN: 9780262332750
Textbook information for this course is available online through the appropriate bookstore website: For online courses, search the MBS website at http://ep.jhu.edu/bookstore.
You will need access to a recent version of MATLAB. MATLAB is available for free for instructors and students through the myJHU portal. Please visit the portal, log in, and look for "Technology" on the left hand side of the page. From there, please click on "mySoftware," and then follow the link to access the Software Catalog. Under the Software Catalog, please click "Order Software" and search for MATLAB.
It is expected that each module will take approximately 7–10 hours per week to complete. Here is an approximate breakdown: reviewing module content (approximately 1–2 hours per week), attending and reviewing office hours content (1-2 hours per week), and completing homework/ assignments (approximately 5–6 hours per week).
This course will consist of four basic student requirements:
You are responsible for carefully reading all assigned material, completing learning activities, and being prepared for discussion. The majority of readings are from the course text. Additional reading may be assigned to supplement text readings.
Post your initial response to the discussion questions by the evening of day 3 for that module week. Posting a response to the discussion question is part one of your grade for module discussions (i.e. Timeliness).
Part two of your grade for module discussion is your interaction (i.e. responding to classmate postings with thoughtful responses) with at least two classmates (i.e. Critical Thinking). Just posting your response to a discussion question is not sufficient; we want you to interact with your classmates. Be detailed in your postings and in your responses to your classmates' postings. Feel free to agree or disagree with your classmates. Please ensure that your postings are civil and constructive.
I/We will monitor module discussions and will respond to some of the discussions as discussions are posted. In some instances, I/we will summarize the overall discussions and post the summary for the module.
Evaluation of preparation and participation is based on contribution to discussions. Preparation and participation is evaluated by the following grading elements:
Preparation and participation is graded as follows:
100–90 = A—Timeliness [regularly participates; all required postings; early in discussion; throughout the discussion]; Critical Thinking [rich in content; full of thoughts, insight, and analysis].
89–80 = B—Timeliness [frequently participates; all required postings; some not in time for others to read and respond]; Critical Thinking [substantial information; thought, insight, and analysis has taken place].
79–70 = C—Timeliness [infrequently participates; all required postings; most at the last minute without allowing for response time]; Critical Thinking [generally competent; information is thin and commonplace].
Qualitative assignments are graded as follows:
100–90 = A—All parts of question are addressed; Writing Quality/Rationale/Examples/Outside References [rich in content; full of thought, insight, and analysis].
89–80 = B—All parts of the question are addressed; Writing Quality/Rationale/Examples/Outside References [substantial information; thought, insight, and analysis has taken place].
79–70=C—Majority of parts of the question are addressed; Writing Quality/Rationale/Examples/Outside References [generally competent; information is thin and commonplace].
<70=F—Some parts of the question are addressed; Writing Quality/Rationale/Examples/Outside References [rudimentary and superficial; no analysis or insight displayed].
Quantitative assignments are graded as follows:
100–90 = A—All parts of question are addressed; All assumptions are clearly stated; All intermediate derivations and calculations are provided; Answer is technically correct and is clearly indicated; Answer precision and units are appropriate.
89–80 = B—All parts of question are addressed; All assumptions are clearly stated; Some intermediate derivations and calculations are provided; Answer is technically correct and is indicated; Answer precision and units are appropriate.
79–70=C—Most parts of question are addressed; Assumptions are partially stated; Few intermediate derivations and calculations are provided; Answer is not technically correct but is indicated; Answer precision and units are indicated but inappropriate.
<70=F—Some parts of the question are addressed; Assumptions are not stated; Intermediate derivations and calculations are not provided; The answer is incorrect or missing; The answer precision and units are inappropriate or missing.
Students will be required to complete a multi-week final project.
Course Project is graded as follows:
100–90 = A—Student Preparation and Participation/Team Preparation and Participation [individual/team roles and responsibilities well defined and understood; individual/team well versed in use of Zoom; individual/teamwork product(s) agreed to, well prepared and available to all team members/instructors]; Student Understanding/Team Understanding [rich in content; full of thought, insight, and analysis].
89–80 = B—Student Preparation and Participation/Team Preparation and Participation [individual/team roles and responsibilities well defined and understood; individual/team well versed in use of Zoom; individual/teamwork product(s) agreed to and prepared]; Student Understanding/Team Understanding [substantial information; thought, insight, and analysis has taken place].
79–70 = C—Student Preparation and Participation/Team Preparation and Participation [individual/ team roles and responsibilities agreed to; individual/team well versed in use of Zoom; individual/teamwork product(s) prepared]; Student Understanding/Team Understanding [generally competent; information is thin and commonplace].
Exams are graded as follows:
100–90 = A—All parts of question are addressed; Writing Quality/ Rationale/ Examples/ Outside References [rich in content; full of thought, insight, and analysis].
89–80 = B—All parts of the question are addressed; Writing Quality/ Rationale/ Examples/ Outside References [substantial information; thought, insight, and analysis has taken place].
79–70 = C—Majority of parts of the question are addressed; Writing Quality/ Rationale/ Examples/ Outside References [generally competent; information is thin and commonplace].
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.
Score Range | Letter Grade |
---|---|
100-98 | = A+ |
97-94 | = A |
93-90 | = A− |
89-87 | = B+ |
86-83 | = B |
82-80 | = B− |
79-70 | = C |
<70 | = F |
Final grades will be determined by the following weighting:
Item | % of Grade |
---|---|
Preparation and Participation (Module Discussions) | 10% |
Assignments | 30% |
Course Project | 30% |
Midterm Exam | 30% |
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.