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Office hours: Tue-Thu at

TA: Serkan Apaydin, S245,

Office hours: ???

**Class meetings: **We
will meet twice a week during the Winter'04 quarter on
Tuesdays and Thursdays, at

The first three classes will
introduce the course, describe basic path planning methods for point robots,
and present the concept of robot configuration space. These classes will be
presented by the instructor/TA.

Subsequent classes will address
more advanced topics. In general, the instructor/TA will give the introduction
and the conclusion of the class (approximately 15 min) and students will make 2
presentations of 30 min each. Each such presentation will describe the content
of a given technical paper. The two technical papers presented in each class
will be available in advance (often by downloading them from the class
website). Other students should also have read these papers. It is expected
that each student's presentation will consist of 20 min of presentation and 10
min question/discussion.

The instructor/TA will present the
last two classes.

**Assignments:
**Each
student will be expected to do the following work:

- Attend every class and actively
participate in class discussion.
- Prepare and give two
presentations. The presentations will be in the form of Powerpoint slides, which will be posted on this
website.
- Read the two papers listed as
"required reading" prior to each class. (The reading of the
other papers is optional.) These are the two papers presented in class.
- Complete two homework assignments.
Each assignment will consist of problems and questions aimed at helping
students to both get a better grasp of the class material and study issues
that we will not have enough time to address in class. These assignments
will not be primarily aimed at testing student knowledge, but rather at
making students think about issues related to motion planning.
- Complete the programming
project.

There will be no midterm or final
exam.

For each presentation, your work
will consist of the following:

1. Read and understand the paper that you
will present. If you have problems understanding parts of the paper, contact us
as early as possible.

2. Prepare a set of Powerpoint
slides for an approximately 20-min-long presentation. You should not present
the entire paper and go into detail for everything. Instead, select key ideas,
concepts, and techniques, and focus on them. Adopt a critical view toward the
paper. Try to establish relations with previous presentations. Make sure you do not have too
many slides.

3. Email us your slides at least 4 working days before the
presentation. We will return
suggestions. Modify your slides accordingly.

4. Email the final version of the slides to us
no later than

The course websites of 2000, 2002, 2003 contain slides prepared by students. You may look
at them for inspiration and import figures and images. Of course, you may also
try to find additional information from the web.

**Grading: **Each homework will count for 15% of the total grade, the
project for 40%, and in-class participation (attendance, paper presentation,
and contribution to discussion) will count for 30%.