Syllabus: CS 395-03/ EECE 395-03

Behavior-Based Robotics

version 1.0

1. Course Description

Robot architectures typically have as many as three levels: high-level deliberation, medium-level sequencing and planning, and
low-level action and reaction. It is becoming increasingly popular to use behavior-based methods for implementing the lowest
level. This course will cover such behavior-basic techniques. The subsumption architecture of Brooks and the motor schemas of
Arkin will be covered, as well as other approaches. Hybrid deliberative-reactive approaches will also be discussed. The text will
be augmented with recent research articles. Students will be given a project.

2. Course Materials

Required Text: Behavior-Based Robotics. By Ronald C. Arkin © 1998
Optional Text: Introduction to AI Robotics. By Robin R. Murphy © 2000 - Available on reserve on the library.
Additional Papers to be distributed.

3. Instructor Information

Dr. Julie A. Adams
Jacobs Hall, room 359
julie.a.adams@vanderbilt.edu
http://www.cs.rit.edu/~jaa
Office Hours Friday 1 - 3, and by appointment.

4. Grading Policy

The course consists of the activities shown below, which are weighted as indicated to compute the final grade:

Component	Weight
Homework	30%
Paper Reviews	15%
Midterm	25%
Project	30%

There will be five homework assignments with the last homework assignment due during week 11. Homework assignments are due at the beginning of class (9:30 AM) on the day due. If you will not be on time to class, then your assignment must be to me by 9:15 AM the day it is due. Late assignments are not accepted. Collaboration is not permitted for the homework assignments. You may only ask for assistance from Dr. Adams.

Each registered student will complete two paper reviews. A list of papers will be provided and the students may choose which paper they wish to review. All students are expected to have read the paper prior to the day it will be reviewed in class. The student responsible for the paper is expected to have a very good understanding of the paper. The reviewer's understanding of the paper content must be sufficient to provide a 20 minute presentation on the primary points in the paper. The presentation will be followed by at least a 10 minute discussion. All students are expected to participate in the discussion.

The project will require you to develop a working Behavior-Based Robotic system. You may choose the topic of your system but the topic requires Professor approval. The project is an individual effort unless otherwise arranged with Dr. Adams. Each student will be required to submit a written project proposal during week 5. A list of potential project ideas will be provided by Sept. 15th. An oral presentation and system demonstration will be required. This presentation will count for 10% of the project grade. The presentations and demonstrations will occur during week 16. The projects must be submitted as scheduled prior to the presentation date. Your submission must include the working code, an updated description of your system and it's capabilities as well as a user manual. The systems must be functional (meaning I do not need you around to explain how it works). Collaboration on the project is not permitted (unless otherwise arranged with Dr. Adams). The only assistance you may receive is from the Dr. Adams.

5. Numerical vs. Letter Grades

The numerical translation to letter grades for graduate students will be as follows:

>=90	A
>=80	B
>=70	C
>=60	D
<60	F

The numerical translation to letter grades for undergraduate students will be as follows:

>=98	A+
93 <= x >= 97	A
90 <= x >= 92	A-
88 <= x >= 89	B+
83 <= x >= 87	B
80 <= x >= 82	B-
78 <= x >= 79	C+
73 <= x >= 77	C
70 <= x >= 72	C-
68 <= x >= 69	D+
63 <= x >= 67	D
60 <= x >= 62	D-
<60	F

6. Course Format

This course will be composed of an interactive lecture and a final week of student presentations. Homework assignments will be given during the first 11 weeks with approximately two weeks to complete each assignment.

6. Midterm Exam

The midterm exam will occur during week 7. This exam is a take home exam. The exact date of availability has not yet been determined but it will be due by 11:59:59 PM on October 11th. The exam should be well formatted and should be emailed to Dr. Adams. The acceptable formats are Microsoft Word, post script, or PDF.

7. Academic Honesty

It is a shame that this must be stated at all, but there are always a few students who do not abide by the rules of proper academic conduct. For the record:

You may help each other freely to complete the paper reviews.
However, this does not mean that someone else can do your paper review for you.
The corollary is that you may not do someone else's work for them either. A willing supplier of the material is as guilty of academic dishonesty as the receiver.
Any help you receive from someone must be acknowledged in the work submitted. Failure to acknowledge the source of a significant idea or approach is considered plagiarism and not allowed.

The rules related to the homework assignments, mid-term exam, and projects only permit you to discuss the issue with Dr. Adams. No other assistance from other students, friends, or faculty is permitted.

Those who behave in a dishonest or unethical manner are subject to disciplinary action. In particular, dishonest or unethical behavior in the execution of assigned work will be treated as follows:

For a first offense the student(s) involved will receive a grade of zero on the assignment and the Honor Council will be notified. [A stronger penalty may be exacted, if, in the judgment of the instructor, the offense involves a flagrant violation of basic ethical standards.]
For a second offense, in this course the student will receive a failing grade for course and the Honor Council will be notified.
A third offense will be referred to Honor Council.

For most of you, such warnings are unnecessary. We have to mention this because otherwise some students would say, ``but you never said I couldn't just copy Johnny's work and turn it in as my own.''

If you have question regarding Vanderbilt's Honor Code please see the Honor Council web page.

8. Tentative Schedule

The weekly schedule is available on Prometheus. It reflects a best estimate of the timing of the topics covered in this course. Any changes to this schedule will be announced in advance by the instructor, or via e-mail.

It cannot be stress strongly enough that you are expected to have read assigned readings before class, as some of the material will not be covered in class unless questions arise. You are responsible for everything in the assigned readings whether covered in class or not, as well as lecture material whether covered in the readings or not. Pertinent questions are always welcome.

9. Policy on W and I Grades

Vanderbilt policy allows you to withdraw from a course on or before October 25th. After this date, your instructor cannot give you a W, but must assign a grade based on your work.

This course has been designed so that you can complete all the work in one semester. Thus incomplete grades will be given only in the most exceptional circumstances, and then only by prior arrangement with your lecture instructor. Your lecture instructor has the final say in this matter.

10. Disclaimer

Every effort has been made to provide accurate information in this document. We reserve the right, however, to make changes to any facet of the course should circumstances warrant it. Any such changes will be announced in both lecture and lab.

Last Updated Sept/1/2002 by jaa.