Fall 2021 - CMPT 720 G100
Robotic Autonomy: Algorithms and Computation (3)
Class Number: 4659
Delivery Method: In Person
Fundamental concepts in robotics and related fields, including computational methods for solving decision making and algorithms for robots to understand their environment. Topics include modeling and simulation of robotic systems, optimization, optimal control, robotic safety, reinforcement learning, and robotic perception. Applications of the material include unmanned aerial vehicles and self-driving cars.
This course introduces fundamental concepts in robotics and related fields, including analytical methods for decision making, and machine learning in the context of robotics. Topics include modelling and simulation of robotic systems, optimization, optimal control, robotic safety, reinforcement learning, and robotic perception. Applications of the material include unmanned aerial vehicles and self-driving cars.
- Modelling and simulation
- Optimal control
- Robotic safety
- Reinforcement learning
- Robotic perception
Assignments – 40% Project proposal – 10% Project presentation and report – 50%
- Introduction to Autonomous Mobile Robots
- R. Siegwart, I. R. Nourbakhsh, and D. Scaramuzza
- MIT Press
- Planning Algorithms
- S. M. LaValle
- Cambridge University Press
- Convex Optimization
- S. Boyd and L. Vandenberghe
- Dynamic Programming and Optimal Control
- D. P. Bertsekas
- Athena Scientific
- Reinforcement Learning: An Introduction
- R. S. Sutton and A. G. Barto
Graduate Studies Notes:
Important dates and deadlines for graduate students are found here: http://www.sfu.ca/dean-gradstudies/current/important_dates/guidelines.html. The deadline to drop a course with a 100% refund is the end of week 2. The deadline to drop with no notation on your transcript is the end of week 3.
ACADEMIC INTEGRITY: YOUR WORK, YOUR SUCCESS
SFU’s Academic Integrity web site http://www.sfu.ca/students/academicintegrity.html is filled with information on what is meant by academic dishonesty, where you can find resources to help with your studies and the consequences of cheating. Check out the site for more information and videos that help explain the issues in plain English.
Each student is responsible for his or her conduct as it affects the University community. Academic dishonesty, in whatever form, is ultimately destructive of the values of the University. Furthermore, it is unfair and discouraging to the majority of students who pursue their studies honestly. Scholarly integrity is required of all members of the University. http://www.sfu.ca/policies/gazette/student/s10-01.html
TEACHING AT SFU IN FALL 2021
Teaching at SFU in fall 2021 will involve primarily in-person instruction, with approximately 70 to 80 per cent of classes in person/on campus, with safety plans in place. Whether your course will be in-person or through remote methods will be clearly identified in the schedule of classes. You will also know at enrollment whether remote course components will be “live” (synchronous) or at your own pace (asynchronous).
Enrolling in a course acknowledges that you are able to attend in whatever format is required. You should not enroll in a course that is in-person if you are not able to return to campus, and should be aware that remote study may entail different modes of learning, interaction with your instructor, and ways of getting feedback on your work than may be the case for in-person classes.
Students with hidden or visible disabilities who may need class or exam accommodations, including in the context of remote learning, are advised to register with the SFU Centre for Accessible Learning (firstname.lastname@example.org or 778-782-3112) as early as possible in order to prepare for the fall 2021 term.