CS 639: Autonomous Robotics

CS 639, Section 004, Spring 2025
Department of Computer Sciences
University of Wisconsin–Madison

Information

Note: for email, please put [CS639] in the subject title. Thanks!

Course Description

Robots are devices that sense and act to bring about change in the physical world. This course will introduce students to the challenges of and methods for developing autonomous robots that can make decisions in unstructured environments with uncertain sensing and actuation. Topics covered will include probabilistic state estimation, robot localization, simultaneous localization and mapping (SLAM), motion control, planning, robot learning, and human robot interaction.

Prerequisites

Students entering the class are expected to have a background knowledge of probability, linear algebra, and calculus, and have good programming experience. The course will provide minimal review on the background knowledge and will not provide tutorials on programming.

These are all optional; accessing one or more of them is a good idea.

Discussion Forum

The instructor will post announcements, clarifications, hints, etc. on Piazza. You should check the CS639 Piazza page frequently throughout the term. If you have a question, the best option is to post a message on Piazza. The instructor will check the forum regularly, and if you use the forum, other students will be able to help you too. When using the forum, please do not post answers to homework questions before the homework is due.

The following rules are useful for asking questions on Piazza:

  • Please check if someone has posted the same/similar question before you; it’s much easier if we build on the thread.
  • Use an informative “Summary” line to help others.

If your question is personal or not of interest to other students, you may mark your question as private on Piazza, so only the instructors will see it. If you wish to talk with one of us individually, you are welcome to come to our office hours. Please reserve email for the questions you can't get answered in office hours or through the forum.

Grading

The grading for the course will be be based on (tentative, subject to change):

  • Class Participation: 10%
  • Reading Responses: 10%
  • Programming Assignments: 40%
  • Midterm Exam: 20%
  • Final Project: 20%

General Homework Policies and Academic Misconduct

All homework assignments must be done individually. Cheating and plagiarism will be dealt with in accordance with university procedures (see the Academic Misconduct Guide for Students). For example, code for programming assignments must not be developed in groups, nor should code be shared. You are encouraged to discuss with your peers or the instructor ideas, approaches and techniques broadly, but not at a level of detail where specific implementation issues are described by anyone. If you have any questions on this, please ask the instructor before you act.

Late Homework and Accomodation Policies

Late Policy: All assignments are due when specified by the instructor. Late assignments will have 10% deducted for each 24 hours past the due date. This penalty is capped at 50% after which no credit is received, with the exception of weekly reading responses. Weekly reading responses may be turned in up to the final class day with a penalty of up to 50% off. In the event of illness or emergency that prevents an on-time completion, please contact the instructor prior to the deadline.

McBurney Center students should contact the instructor to specify any special requests for the exams or homework assignments together with the supporting documentation provided by the McBurney Center. I will do my best to accommodate the requests.