Geometric Computation for Motion Planning
CS 6370 and ME EN 6225

Schedule:		MWF 12:55 - 1:45
Location:		MEB 3105
Instructor:		David Johnson
Email:		dejohnso@cs.utah.edu
Office:		2875 WEB (ph) 585-1726
Hours:		I am generally available and through appointment.
Texts:		Principles of Robot Motion: Theory, Algorithms, and Implementations by Howie Choset, et al. (note: the U bookstore is not carrying this text, so please order online) MatLab student edition (you need MatLab availablility, either through purchase or use in the labs)

Objectives

Robot motion planning formulates safe motion through a modeled environment. This problem can be formulated in a high dimensional space, known as a configuration space, and various approaches to a solution use this abstraction in creative ways. Underlying these approaches are fundamental geometric computations, such as model-model intersection and minimum distance, with broader application in computer animation, simulation, computer-aided design, haptics, and virtual reality. Topics to be covered in this course are spatial subdivision and model hierarchies, model intersection, distance queries and distance fields, medial axis computations, configuration spaces, geometric constraint solving, and motion planning. Classical geometric planning algorithms will be covered as well as current randomized approaches and topics on localizations and SLAM. The course will rely on lectures, readings, and projects to provide understanding of current practices in the field.

Students should finish the course with:

computational tools to solve geometric problems
practice in applying these tools to motion planning
improved programming skills
the ability to read and evaluate scientific literature
practice in conveying research results to an audience

Grading

Your course grade will depend on the following factors:

	Programming Assignments		60%
	Final Project Paper and Talk		15%
	Discussion and Paper Critiques		5%
	Mid-term and Final Exam		20%

Policies

Late Policy: Zero credit is given for late work, please just submit what you have for partial credit if unfinished. However, you can have three late days to use at your discretion (not for the final project). You must notify me of your intent to use this privilege by the original due date. Also, additional leeway can be given for officially sanctioned University activities.

Cheating and Plagiarism: Students are encouraged to discuss approaches with one another and to help one another with computer infrastructure questions, but not to share or view another person’s code.

This is a graduate level course. As such, students are expected to behave in a professional manner.

Accommodations: The University of Utah seeks to provide equal access to its programs, services and activities for people with disabilities. If you will need accommodations in the class, reasonable prior notice needs to be given to the Center for Disability Services, 162 Union Building, 581-5020 (V/TDD). CDS will work with you and the instructor to make arrangements for accommodations.

Lecture Materials

Lecture materials are kept off of the main web page

Course website