Professor: Michael Erdmann (me at -nospam- cmu.edu)
Teaching Assistants: Sankalp Arora (asankalp at -nospam- andrew.cmu.edu)
Chung-Yao Chuang (chungyac at -nospam- andrew.cmu.edu)
Yen-Chia Hsu (yenchiah at -nospam- cs.cmu.edu)
Location: HH B103 (Hamerschlag Hall)
Time: TR 3:00-4:20
Michael Erdmann's Office Hours: After class or by appointment (office is GHC 9203).
Sankalp Arora's Office Hours: Wednesdays, 10am-11am, NSH 4225 Chung-Yao Chuang's Office Hours: Fridays, 1-2pm, in NSH 4211
Yen-Chia Hsu's Office Hours: Mondays, 2-3pm, in NSH 4225
Please note: Office hour times and locations may vary each week depending on conference room availability.
This is a graduate course. You are thus expected to pursue ideas and topics discussed in this course on your own beyond the level of the lectures. My aim is to cover some of the easy early material quickly, then spend more detailed time on the later material. My goal throughout the course is to acquaint you with fundamental algorithms and mathematical reasoning, as well as give you some implementation experience.
The course grade will be determined by performance on assignments, participation in class, and a class project. Class assignments will entail solving some problems on paper or implementing some of the algorithms discussed in the course.
The term project should take about a month of work (40 hours) per person. It should pursue a mathematical topic in a robotics setting that is not otherwise covered in detail in the course. Ideally, the project should be connected to your research. If you are a first year graduate student, you should view the project as a springboard to research involvement. Project writeups should be 5 pages long. Project writeups are due at the end of the last presentation (actually, in 2015, they will be due about a week later). Project presentations will occur near the end of the term, depending on room availabilities. Projects may be individual projects or team projects. Team projects must be commensurately larger in scope than single person projects. Projects that are used in more than one course need to be significantly more substantial than single course projects. A team project that is used in more than one course needs to be very significant.
In order to pass this course you must do all the work required. "Doing all the work" entails coming to class, submitting solutions for the assignments, and doing the project. You must submit a solution for every problem on an assignment by that assignment's due date. Assignments are graded on a "minus, check, plus" scale. You must receive a "check" or a "plus" on every assignment in order to pass the course. If you obtain a "minus" on an assignment, you may and must submit correct solutions by the resubmission deadline for that assignment, in order to try to raise your assignment grade to a "check". (The resubmission deadline is not an alternate deadline for the original assignment; you need to attempt every problem by the original deadline.) For the project, you should submit a project proposal, a project writeup, and present your project publicly (it remains to be determined whether we will have short talks or a poster session). (Not doing all the work as described above within the time frame allotted means you fail the course.)
Please do not record my lectures or take images of me. University policy on this matter suggests the following formal statement:
No student may record any classroom activity without express written consent from me. If you have (or think you may have) a disability such that you need to record or tape classroom activities, you should contact the Office of Equal Opportunity Services, Disability Resources to request an appropriate accommodation.Thank you.