CS326A  Motion Planning  Organization
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Class meetings: We
will meet twice a week during the Winter’0809 quarter on Mondays and
Wednesdays, at 11:00am12:15pm, in Terman GR156. The course is given for 3 units.
The first three classes will introduce
the course, describe basic path planning methods for point robots, and present
the key concept of the configuration space of a moving object. I will give
these classes.
Subsequent classes will discuss
more advanced topics. For most of them, I will introduce the class
(approximately 15 min) and students will then make 2 presentations of 30 min
each. Each such presentation will describe the content of a research paper that
will be available in advance from the class website. Other students should also
have read this paper. It is expected that each student's presentation will
consist of 20 min of presentation and 10 min question/discussion. For some
classes, I will give the entire lecture or I will share the time more evenly
with a single student presentation.
Assignments:
Each
student is expected to do the following work:

Attend every class and actively participate in class
discussion.

Give two presentations. The presentations will be in
the form of Powerpoint slides, which will be posted as class notes.

Read the papers listed as "required
reading" prior to each class. 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. The homeworks will be posted on January 28 and
February 25, and will be due one week later.

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 20minlong 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 8pm on the day before the presentation. We will bring a laptop with the slides on it. We will also
post the slides on the class website so that the other students will be able to
download them later.
The course websites of 2000, 2002, 2003, 2004, 2007
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 10% of the
total grade, the project for 50%, and inclass participation (attendance, paper
presentation, and contribution to discussion) will count for 30%.