CS 294-5: Algorithmic Foundations of Robotics

Lecture: M 1-4, 405 Soda Hall (3 units)
Prerequisites: graduate standing or permission of instructors

In CS 294-5 we will study fundamental algorithms for robotics, including algorithms for motion planning and mobile robots (e.g. the Mars Soujourner), for grasping, positioning and assembly automation, or for design of parts handled by robots. Typically such algorithms are based on rigorous mathematical, geometric and physical principles used to analyze or predict the kinematics and dynamics of parts. Two important themes in current research are completeness and minimalism. Through reading and discussion of recent papers and student projects, we will explore a variety of current research topics.

Goldberg and Böhringer will present introductory lectures to establish common background. We will study one or two papers in depth during each class meeting. Everyone is expected to read each paper in advance and come prepared with critical questions. Students will take turns giving presentations on the papers which will be interrupted with discussion and analysis.

Course requirements: Each student will explore a topic in depth, and also carry out a small-scale research project, such as a software simulation or a mathematical model. Students will present their own research projects in class. A writeup of the project will also be required in the format of an 8 page conference paper with appropriate citations. Papers of exceptional quality will be considered for publication.