535.622.81 - Robot Motion Planning

Expanded Course Description

No prerequisites are required for this course, however it is strongly recommended that students have the following background:

• Linear Algebra,
• Robot Kinematics, and
• basic MATLAB or code/ syntax experience.
  

Course Structure

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. Module durations vary depending on whether the course is offered during the fall, spring, or summer. You should regularly check the Calendar and Announcements for assignment due dates. In general, most modules run for a period of:

• seven (7) days for fall/spring classes and
• six (6) days for summer classes. 
  

Course Topics

Module topics include:

• Mapping, Motion Planning, and Configuration Space
• Paths in Configuration Space, Continuity, and the Tangent Space
• Polygonal Workspaces and Construction of Obstacles in Configuration Space
• Robot and Obstacle Representations, Constructing C-Obstacles, and Representing C-Obstacles
• Path Planning Framework, Introduction to Roadmap Methods, and Introduction to Graphs
• Configuration Spaces Decompositions and Cell Decomposition Methods
• Graph Search Methods for Planning
• Approximate Cell Decomposition and Potential Field Methods
• Robot Jacobians

Course Goals

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.

Course Learning Outcomes (CLOs)

• Effective methods in representing robots and environmental parameters
• The basic motion planning problem and associated mathematical formulation
• Configuration space representations
• Computational approaches to solving the basic motion planning problem
• Path planning in the presence of moving objects, multiple robots, and/or articulated manipulators
• Non-holonomic kinematic constraints and their effects on path planning and execution
• Resources to find and understand current research topics in the field of robotics and path planning

Textbooks

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.

Required Software

MATLAB

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.

Student Coursework Requirements

It is expected that each module will take an average of approximately 7–10 hours to complete. Here is an approximate breakdown: reviewing module content (approximately 1–2 hours), attending and reviewing office hours content (1-4 hours), and completing homework/assignments (approximately 5–6 hours).

This course will consist of four basic student requirements:

Preparation and Participation (10% of Final Grade Calculation) - Unless otherwise stated

You are responsible for reading/reviewing all assigned material, completing learning activities, and being prepared for discussion. The majority of content is related to course lectures and students are expected to expand their understanding using online resources (e.g. Wolfram MathWorld or Google Scholar). Additional reading may be assigned to supplement lecture content as needed.

Your course preparation and participation grade will be largely based on:

1. Module Discussions
   • Most modules will include one or more questions in a "Module X - Discussion" thread. Students are expected to respond to each question by Day 3 of a given module and reply to at least two classmates' posts by the Final Day of the module. Your interaction (i.e. responding to classmate postings with thoughtful responses) is a strong indicator of critical thinking and is intended to prompt further interaction amongst students. Note that 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.
   • In the event that you miss the "Day 3" and "Final Day" deadlines, please still post your response(s) and replies. Late posts will be noted but credit can still be earned so please respond to all discussion questions.
   • I/We will monitor module discussions and will respond if/when needed. In some instances, I/we will summarize the overall discussions and post the summary for the module.
2. Learning Activities
   • Modules will infrequently include one or more learning activities. If a learning activity is included with a given module, your successful completion of the activity will be counted toward your preparation and participation grade.

Evaluation of Preparation and Participation is based on contribution to discussions and learning activities. Preparation and Participation is evaluated by the following grading elements:

• ( (Module Discussion Contributions Posts)/3 + Learning Activities ) / (Total Module Discussions + Total Learning Activities) 

Assignments (30% of Final Grade Calculation) - Unless otherwise stated

• Homework is due at the date/time state in Canvas.
• Homework is not group assignments but collaboration is permitted and encouraged.
• All sources of outside assistance and collaboration must be fully referenced at the top of the page or function (e.g. Problem 1: Received guidance on reference frame assignments from J. Smith).

Qualitative assignments are graded as follows:

• 100% – 90%
  • All parts of question are addressed; Writing Quality/Rationale/Examples/Outside References [rich in content; full of thought, insight, and analysis].
• 89% – 80%
  • All parts of the question are addressed; Writing Quality/Rationale/Examples/Outside References [substantial information; thought, insight, and analysis has taken place].
• 79% – 70%
  • Majority of parts of the question are addressed; Writing Quality/Rationale/Examples/Outside References [generally competent; information is thin and commonplace].
• <70%
  • Some parts of the question are addressed; Writing Quality/Rationale/Examples/Outside References [rudimentary and superficial; no analysis or insight displayed].

Quantitative assignments are evaluated by the following grading elements:

1. Each part of question is answered (20%).
2. Assumptions are clearly stated (20%).
3. Intermediate derivations and calculations are provided (25%).
4. Answer is technically correct and is clearly indicated (25%).
5. Answer precision and units are appropriate (10%).

Quantitative assignments are graded as follows:

• 100% – 90%
  • 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%
  • 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%
  • 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%
  • 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.

Mid-Term Exam (30% of Final Grade Calculation)

The midterm exam will be available following the Homework 5 deadline.

• You will have approximately 1.5 weeks to complete the exam.
• The due date will be assigned using Canvas.
• You may use the course modules, course homework, optional textbooks, and MATLAB to complete the exam.
• Group work is not permitted.
  

The exams are evaluated by the following grading elements:

1. Each part of question is answered (20%).
2. Writing quality and technical accuracy (30%)
   • Writing is expected to meet or exceed accepted graduate-level English and scholarship standards. That is, all responses will be graded on grammar and style as well as content.
3. Rationale for answer is provided (20%).
4. Examples are included to illustrate rationale (15%)
   • If a student does not have direct experience related to a particular question, then the student is to provide analogies versus examples.
5. Outside references are included (15%).

Exams are graded as follows:

• 100% – 90%
  • All parts of the question are addressed; Writing Quality/ Rationale/ Examples/ Outside References [rich in content; full of thought, insight, and analysis].
• 89% – 80%
  • All parts of the question are addressed; Writing Quality/ Rationale/ Examples/ Outside References [substantial information; thought, insight, and analysis has taken place].
• 79% –70%
  • Majority of parts of the question are addressed; Writing Quality/ Rationale/ Examples/ Outside References [generally competent; information is thin and commonplace].
• <70% 
  • Some parts of the question are addressed; Writing Quality/ Rationale/ Examples/ Outside References [marginally competent; information is missing and/or incorrect].

Final Project (30% of Final Grade Calculation)

Students will be required to complete a multi-week final project.

• Group work is not permitted.
• Results must be documented in a concise report.
• An electronic copy of operational code must be submitted via Canvas.

Course Project is graded as follows:

• 100% – 90%
  • All parts of the question are addressed; Code/ Writing Quality/ Rationale/ Examples/ Outside References [rich in content; full of thought, insight, and analysis].
• 89% – 80%
  • All parts of the question are addressed; Code/ Writing Quality/ Rationale/ Examples/ Outside References [substantial information; thought, insight, and analysis has taken place].
• 79% –70%
  • Majority of parts of the question are addressed; Code/ Writing Quality/ Rationale/ Examples/ Outside References [generally competent; information is thin and commonplace].
• <70% 
  • Some parts of the question are addressed; Code/ Writing Quality/ Rationale/ Examples/ Outside References [marginally competent; information is missing and/or incorrect].
    

Grading Policy

Late/Missed Assignments 

• The lowest homework grade will be dropped. 
• Homework will be accepted up to a week after the due date with a 5% per day penalty. 
  • Exceptions can be granted on a case-by-case basis. If you need an extension, request it as soon as possible.

Course 

• EP uses a +/- grading system summarized below (see “Grading System”, Graduate Programs catalog, p. 10).
• For reference, 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%

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. 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. Our courses are designed with a proactive approach to accessibility to minimize the need for disability disclosure and accommodation requests, but we recognize that you may need additional support. 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 EP Student Disability Services at 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 Student Conduct Code website.

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.