Course Syllabus

Jump to Today

CS 6370 / ME EN 6225 Motion Planning

Welcome!

Motion planning stands as a central pillar in robotics. Planning enables robots and autonomous agents to move themselves and other parts of the world to a desired goal by choosing a sequence of appropriate actions. This course will cover the theoretical and algorithmic underpinnings of motion planning in robotics. Applications will be examined across robotics ranging from obstacle avoidance in autonomous cars, to planning safe motions in robotic surgery, to rearrangement of furniture by humanoid robots.

Like robotics in general, motion planning draws on a number of different fields in developing its tools. Approaches to motion planning have grown out of artificial intelligence, optimal control, and operations research. As such, elementary knowledge of linear algebra, probability, and graph algorithms are expected of the students. Additionally, programming skills are paramount to success in the course as all assignments and projects require implementation and extensions of algorithms covered in class. Finally, all assignments will require thoughtful and thorough writing and analysis by the students.

What does this course offer you?

In this course you will learn to develop and analyze algorithms for motion planning. You will learn to implement motion planning algorithms efficiently for use in research or industry. Even if you work primarily in mechanism design or electrical design of robotic systems, understanding and considering the implications of different approaches to motion planning can aid and improve your design.

How are you, exactly, going to achieve this?

The course will be held in person Mondays, Wednesdays, and Fridays from 9:40am to 10:30am in GC 2675.Links to an external site.

We will have readings associated with many lectures. You should read this material and come prepared to class. We will have selected readings from Steven LeValle's Planning Algorithms book available for free as a pdf online here: http://lavalle.pl/planning/ Other readings will come from research papers or notes provided by the instructor.

Programming projects will provide you with an opportunity to implement algorithms studied in the course. You will work independently on these assignments to help improve your own skills in programming planning algorithms.

A final group project will serve to combine your programming skills with designing and using motion planning to solve a problem you care about. We encourage you to combine this with your own ongoing research if possible.

We will also have frequent short answer/multiple choice style canvas quizzes to help enhance and assess retention and understanding of the material.

How will you (and the teaching staff) know if you are making progress in your learning?

The best way to understand your progress is to actively engage in class and work to answer questions yourself. Each class you will be provided time to engage with the professor and your classmates to solve problems. If something isn't clear then ask about it! If you are confused then many others in the class likely are as well.

We will provide feedback on programming assignments quickly to aid in understanding. Office hours held by the professor and TA also serve as a great time to go and get individual feedback on your progress if you are uncertain.

Other Important Course Information

Cooperation vs Cheating: Any assignment submitted or quiz taken must be your own work (unless specified in the assignment). However, talking with one another to understand the material better is encouraged. Recognizing the distinction between cheating and cooperation is very important. If you copy someone else's solution, you are cheating. If you let someone else copy your solution, you are cheating. If someone dictates a solution to you, you are cheating. Everything you hand in must be in your own words, and based on your own understanding of the solution. If someone helps you understand the problem during a high-level discussion, you are not cheating.

This syllabus is meant to serve as an outline and guide for the course. Please note that your instructor may modify it to accommodate the needs of your class.

You will be notified of any changes to the Syllabus.

Additional Resources and Policies:

Student Mental Health Resources

  • Rates of burnout, anxiety, depression, isolation, and loneliness have noticeably increased during the pandemic. If you need help, reach out for campus mental health resources, including counseling, trainings and other support.
  • Consider participating in a Mental Health First Aid or other wellness-themed training provided by our Center for Student Wellness and sharing these opportunities with your peers, teaching assistants and department colleagues.

College of Engineering Guidelines: https://www.coe.utah.edu/semester-guidelines

 

University Policies

COVID-19 Campus Guidelines

 

COVID-19 Central @ The U
 801-213-2874
 coronavirus.utah.edu

Drop/Withdrawal Policies

Students may drop a course within the first two weeks of a given semester without any penalties.

Students may officially withdraw (W) from a class or all classes after the drop deadline through the midpoint of a course. A “W” grade is recorded on the transcript and appropriate tuition/fees are assessed. The grade “W” is not used in calculating the student’s GPA.

For deadlines to withdraw from full-term, first, and second session classes, see the U's Academic Calendar.

Plagiarism and Cheating

It is assumed that all work submitted to your instructor is your own work. When you have used the ideas of others, you must properly indicate that you have done so.

Plagiarism and cheating are serious offenses and may be punished by failure on an individual assignment, and/or failure in the course. Academic misconduct, according to the University of Utah Student Code,

“...Includes, but is not limited to, cheating, misrepresenting one’s work, inappropriately collaborating, plagiarism, and fabrication or falsification of information…It also includes facilitating academic misconduct by intentionally helping or attempting to help another to commit an act of academic misconduct.”

For details on plagiarism and other important course conduct issues, see the U's Code of Student Rights and Responsibilities.

Course Materials Copyright

The Content is made available only for your personal, noncommercial educational, and scholarly use. You may not use the Content for any other purpose, or distribute, post or make the Content available to others unless you obtain any required permission from the copyright holder. Some Content may be provided via streaming or other means that restrict copying; you may not circumvent those restrictions. You may not alter or remove any copyright or other proprietary notices included in the Content.
 
Please see the Code of Student Rights and Responsibilities, Section III.A.5 regarding the use and distribution of class Content and materials. Section III.A.5. prohibits the following:
Sale or distribution of information representing the work product of a faculty member to a commercial entity for financial gain without the express written permission of the faculty member responsible for the course. (“Work product” means original works of authorship that have been fixed in a tangible medium and any works based upon and derived from the original work of authorship.)

Safety at the U

The University of Utah values the safety of all campus community members. You will receive important emergency alerts and safety messages regarding campus safety via text message.

For more safety information and to view available training resources, including helpful videos, visit safeu.utah.edu (Links to an external site.).

To report suspicious activity or to request a courtesy escort, contact:

Campus Police & Department of Public Safety
801-585-COPS (801-585-2677)
 dps.utah.edu
1735 E. S. Campus Dr.
     Salt Lake City, UT 84112

Wellness at the U

Your personal health and wellness are essential to your success as a student. Personal concerns like stress, anxiety, relationship difficulties, depression, or cross-cultural differences can interfere with a student’s ability to succeed and thrive in this course and at the University of Utah.

Please feel welcome to reach out to your instructor or TA to handle issues regarding your coursework.

For helpful resources to manage your personal wellness and counseling options, contact:

Center for Student Wellness
801-581-7776
wellness.utah.edu
2100 Eccles Student Life Center
     1836 Student Life Way
     Salt Lake City, UT 84112

Women's Resource Center
801-581-8030
womenscenter.utah.edu
411 Union Building
     200 S. Central Campus Dr.
     Salt Lake City, UT 84112

Addressing Sexual Misconduct

Title IX makes it clear that violence and harassment based on sex and gender (which includes sexual orientation and gender identity/expression) is a civil rights offense subject to the same kinds of accountability and the same kinds of support applied to offenses against other protected categories such as race, national origin, color, religion, age, status as a person with a disability, veteran’s status, or genetic information.

If you or someone you know has been harassed or assaulted, you are encouraged to report it to university officials: 

Title IX Coordinator & Office of Equal Opportunity and Affirmative Action
801-581-8365
oeo.utah.edu
135 Park Building
     201 Presidents' Cir.
     Salt Lake City, UT 84112

Office of the Dean of Students
801-581-7066
deanofstudents.utah.edu
 270 Union Building
     200 S. Central Campus Dr.
     Salt Lake City, UT 84112

To file a police report, contact:

Campus Police & Department of Public Safety
801-585-COPS (801-585-2677)
 dps.utah.edu
1735 E. S. Campus Dr.
     Salt Lake City, UT 84112

If you do not feel comfortable reporting to authorities, the U's Victim-Survivor Advocates provide free, confidential, and trauma-informed support services to students, faculty, and staff who have experienced interpersonal violence.

To privately explore options and resources available to you with an advocate, contact:

Center for Student Wellness
801-581-7776
wellness.utah.edu
328 Student Services Building
    201 S. 1460 E.
     Salt Lake City, UT 84112

Americans With Disabilities Act (ADA)

The University of Utah seeks to provide equal access to its programs, services, and activities for people with disabilities.

All written information in this course can be made available in an alternative format with prior notification to the Center for Disability & Access (CDA). CDA will work with you and the instructor to make arrangements for accommodations. Prior notice is appreciated. To read the full accommodations policy for the University of Utah, please see Section Q of the Instruction & Evaluation regulations.

If you will need accommodations in this class, or for more information about what support they provide, contact:

Center for Disability & Access
801-581-5020
disability.utah.edu
162 Union Building
    200 S. Central Campus Dr.
     Salt Lake City, UT 84112

Diverse Student Support

Your success at the University of Utah is important to all of us here! If you feel like you need extra support in academics, overcoming personal difficulties, or finding community, the U is here for you.

Student Support Services (TRIO)

TRIO federal programs are targeted to serve and assist low-income individuals, first-generation college students, and individuals with disabilities.

Student Support Services (SSS) is a TRIO program for current or incoming undergraduate university students who are seeking their first bachelor's degree and need academic assistance and other services to be successful at the University of Utah.

For more information about what support they provide, a list of ongoing events, and links to other resources, view their website or contact:

Student Support Services (TRIO)
801-581-7188
trio.utah.edu
 Room 2075 
     1901 E. S. Campus Dr.
     Salt Lake City, UT 84112

American Indian Students

The AIRC works to increase American Indian student visibility and success on campus by advocating for and providing student-centered programs and tools to enhance academic success, cultural events to promote personal well-being, and a supportive “home-away-from-home” space for students to grow and develop leadership skills. 

For more information about what support they provide, a list of ongoing events, and links to other resources, view their website or contact:

American Indian Resource Center
 801-581-7019
diversity.utah.edu/centers/airc
Fort Douglas Building 622
     1925 De Trobriand St.
     Salt Lake City, UT 84113

Black Students

Using a pan-African lens, the Black Cultural Center seeks to counteract persistent campus-wide and global anti-blackness. The Black Cultural Center works to holistically enrich, educate, and advocate for students, faculty, and staff through Black-centered programming, culturally affirming educational initiatives, and retention strategies.

For more information about what support they provide, a list of ongoing events, and links to other resources, view their website or contact:

Black Cultural Center
801-213-1441
diversity.utah.edu/centers/bcc
Fort Douglas Building 603
     95 Fort Douglas Blvd.
     Salt Lake City, UT 84113

Students with Children

Our mission is to support and coordinate information, program development, and services that enhance family resources as well as the availability, affordability, and quality of child care for University students, faculty, and staff.

For more information about what support they provide, a list of ongoing events, and links to other resources, view their website or contact:

Center for Childcare & Family Resources
801-585-5897
childcare.utah.edu
408 Union Building
    200 S. Central Campus Dr.
     Salt Lake City, UT 84112

Students With Disabilities

The Center for Disability and Access is dedicated to serving students with disabilities by providing the opportunity for success and equal access at the University of Utah. They also strive to create an inclusive, safe, and respectful environment.

For more information about what support they provide and links to other resources, view their website or contact:

Center for Disability and Access
801-581-5020
disability.utah.edu
162 Union Building
    200 S. Central Campus Dr.
     Salt Lake City, UT 84112

Students of Ethnic Descent

The Center for Ethnic Student Affairs offers several programs dedicated to the success of students with varied cultural and ethnic backgrounds. Its mission is to create an inclusive, safe campus community that values the experiences of all students.

For more information about what support they provide, a list of ongoing events, and links to other resources, view their website or contact:

Center for Ethnic Student Affairs
801-581-8151
diversity.utah.edu/centers/cesa/
 235 Union Building
    200 S. Central Campus Dr.
     Salt Lake City, UT 84112

English as a Second/Additional Language (ESL) Students

If you are an English language learner, there are several resources on campus available to help you develop your English writing and language skills. Feel free to contact:

Writing Center
 801-587-9122
writingcenter.utah.edu

 (Links to an external site.)
2701 Marriott Library
     295 S 1500 E
     Salt Lake City, UT 84112

English for Academic Success (EAS) Program
 801-581-8047
 linguistics.utah.edu
 2300 LNCO
     255 S. Central Campus Dr.
     Salt Lake City, UT 84112

English Language Institute
 801-581-4600
continue.utah.edu/eli (Links to an external site.)
540 Arapeen Dr.
     Salt Lake City, UT 84108

Undocumented Students

Immigration is a complex phenomenon with broad impact—those who are directly affected by it and those who are indirectly affected by their relationships with family members, friends, and loved ones. If your immigration status presents obstacles that prevent you from engaging in specific activities or fulfilling specific course criteria, confidential arrangements may be requested from the Dream Center.

Arrangements with the Dream Center will not jeopardize your student status, your financial aid, or any other part of your residence. The Dream Center offers a wide range of resources to support undocumented students (with and without DACA) as well as students from mixed-status families.

For more information about what support they provide and links to other resources, view their website or contact:

Dream Center
 801-213-3697
dream.utah.edu (Links to an external site.)
200 S. CENTRAL CAMPUS DRIVE
UNION, ROOM 80 
SALT LAKE CITY, UT 84112

LGBTQ+ Students

The LGBTQ+ Resource Center acts in accountability with the campus community by identifying the needs of people with a queer range of [a]gender and [a]sexual experiences and responding with university-wide services.

For more information about what support they provide, a list of ongoing events, and links to other resources, view their website or contact:

LGBTQ+ Resource Center
801-587-7973
lgbt.utah.edu (Links to an external site.)
409 Union Building
    200 S. Central Campus Dr.
     Salt Lake City, UT 84112

Veterans & Military Students

The mission of the Veterans Support Center is to improve and enhance the individual and academic success of veterans, service members, and their family members who attend the university; to help them receive the benefits they earned, and to serve as a liaison between the student veteran community and the university.

For more information about what support they provide, a list of ongoing events, and links to other resources, view their website or contact:

Veterans Support Center
801-587-7722
veteranscenter.utah.edu  (Links to an external site.)
418 Union Building
    200 S. Central Campus Dr.
     Salt Lake City, UT 84112

Women

The Women’s Resource Center (WRC) at the University of Utah serves as the central resource for educational and support services for women. Honoring the complexities of women’s identities, the WRC facilitates choices and changes through programs, counseling, and training grounded in a commitment to advance social justice and equality.

For more information about what support they provide, a list of ongoing events, and links to other resources, view their website or contact:

Women's Resource Center
801-581-8030
womenscenter.utah.edu
411 Union Building
     200 S. Central Campus Dr.
     Salt Lake City, UT 84112

Inclusivity at the U

The Office for Inclusive Excellence is here to engage, support, and advance an environment fostering the values of respect, diversity, equity, inclusivity, and academic excellence for students in our increasingly global campus community. They also handle reports of bias in the classroom as outlined below:

Bias or hate incidents consist of speech, conduct, or some other form of expression or action that is motivated wholly or in part by prejudice or bias whose impact discriminates, demeans, embarrasses, assigns stereotypes, harasses, or excludes individuals because of their race, color, ethnicity, national origin, language, sex, size, gender identity or expression, sexual orientation, disability, age, or religion.

For more information about what support they provide and links to other resources, or to report a bias incident, view their website or contact:

Office for Inclusive Excellence
 801-581-4600
inclusive-excellence.utah.edu (Links to an external site.)
200 S. CENTRAL CAMPUS DRIVE
UNION, ROOM 70
SALT LAKE CITY, UT 84112

Other Student Groups at the U

To learn more about some of the other resource groups available at the U, check out:

getinvolved.utah.edu/

 studentsuccess.utah.edu/resources/student-support

 

Course Summary:

Date Details Due