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\title{6.189/2.994/16.401 -- Robotics: Science and Systems II \\
  Syllabus} \author{} \date{}

\begin{document}

\maketitle

\vspace{-.5in}

\subsection*{Instructors:}
John Leonard, Rm 5-214, jleonard@mit.edu, x3-5305 \\
Una-May O'Reilly, Rm 32-379, unamay@csail.mit.edu, x3-6437 \\
Nicholas Roy, Rm 33-315, nickroy@mit.edu, x3-2517 \\
Daniela Rus, Rm 32-374, rus@csail.mit.edu, x8-7567 \\
Seth Teller, Rm 32-333, teller@csail.mit.edu, x8-7885 \\

Course Secretary: \\
Bryt Bradley, bryt@csail.mit.edu, Rm 32-D464/32-331A, x3-6583

\subsection*{TAs:}

Sam Prentice, prentice@mit.edu \\
Eric Tung, koi@mit.edu \\

Mail to RSS-lecturers@lists.csail.mit.edu will reach the instructors.\\
Mail to RSS-staff@lists.csail.mit.edu will reach the instructors and TAs. \\
Mail to RSS-students@csail.mit.edu will reach the students, instructors 
and TAs. 

\subsection*{Class meetings:}

Lectures: Mondays, Wednesdays and some Fridays from 11am-12 in Room 32-144.\\
Labs: Tuesdays and Thursdays from 2:30-4:30pm in Room 33-004 (Neumann Hangar).

\subsection*{Course web site:}

The course web site is \verb!http://courses.csail.mit.edu/6.189!.

\subsection*{Prerequisites:} 

The prerequisite for this subject is Robotics: Science and Systems I or
permission of the instructors.  The subject has limited enrollment.

\subsection*{Resources:}

The course textbooks are: 

\begin{itemize}  
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\item R. Siegwart and I. Nourbakhsh. {\underline{Introduction to Autonomous
      Mobile Robots.}}  MIT Press, 2004.
\item G. Dudek and M. Jenkin. {\underline{Computational Principles of Mobile
      Robotics.}}  Cambridge University Press, 2000.
\item S. Russell and P. Norvig. {\underline{Artificial Intelligence: A Modern
      Approach}}.  (2nd Edition). Prentice Hall, 2002.
\end{itemize}

\vspace{-.3in}

\subsection*{Deliverables:}

There will be no problem sets, assignments or exams. You will be graded on
your skills in developing and delivering the final project capability
to the customers (the instructors in the course).

There are 5 major milestones throughout the course, and the final project. The
milestones are:

\begin{enumerate}
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\item September 27th - R:SS I functionality restored
\item October 17th - Design Review of frozen API
\item October 18th - Demonstration of integrated API
\item November 1st - 1st test of integrated code
\item November 22nd - 2nd test of integrated code
\end{enumerate}


\subsection*{Grading:}

Your grade will consist of 50\% your individual performance and 50\%
your team performance. Each team member must present during at least one
design review and at least one demonstration review (there are 5 of
each). Additionally, the TAs will examine your lab books each Thursday
in lab. Finally, you will write a final report after the code
freeze on December 9th, analyzing the performance of your system.

% XXX:  nick, did you mean these to add to 50?  they add to 70.
\medskip
\textbf{Individual performance (50\% total grade):}
\begin{itemize}  
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\item Design/Demonstration review presentations (20\%)\\
  - Clear presentation\\
  - Clear understanding of issues\\
  - Ability to answer questions from other teams
\item Lab books (10\%) \\ 
  - Clear, continual documentation of implementation state\\
  - Clear, continual evaluation \\
  - No unexplained gaps
\item Written final report (10\%) 
\item Class and lab participation (10\%)\\
  - Asks questions during design/test reviews\\
  - Technical support for presenting teammates
  - Does not interrupt presenting teammates
\end{itemize}

\textbf{Team performance (50\% total grade):}
\begin{itemize}
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\item Quality and originality of approach (10\%)
\item Quality of implementation (10\%)
\item Documentation of implementation (e.g., wikis) for other teams (10\%)
\item Ability to work together as a team (10\%)
\item Co-operation with other teams (10\%)
\end{itemize}

\subsection*{Additional policies}
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\textbf{Collaboration:} Full collaboration is encouraged and expected both
within teams and between teams for almost all tasks in this course. This is
\emph{not} a competition.  However, every member of the team will be expected
to contribute a roughly equal share to the design and implementation.

The only deliverable that is not collaborative is each individual
student's final report.  You must acknowledge, within the written work
itself, the contributions of other students with whom you discussed it.
Secondly, you may not duplicate efforts. The appropriate collaboration
model is to discuss solution strategies, credit your collaborator, and
write your code and reports individually. Implementations that are
identical or differ only by variable names will not receive full credit.

\textbf{Extensions:} One of the goals of this course is to learn to
manage schedules. Because of the collaborative nature of this course,
and the fixed end to the semester, the class schedule cannot slip. As a
result, each team will be evaluated on the milestone date, without
exception. Your code, and the robot's performance arising from that
code, will be evaluated at that time.

\section*{Course Schedule}

\includegraphics[height=8.5in]{calendar.eps}
\section*{2005 Catalogue Description}

\begin{verbatim}
6.189J/16.401J/2.994J Robotics: Science and Systems II
Units 2-4-6
Prereq: 6.188 (R:SS I), or 2.12, or Permission of Instructors

Schedule:  Lecture MW 11-12 in Room 32-144; Lab TR 230-430 in Gelb Lab
Occasional F 11-12 lectures as needed.

Implementation and operation of the embedded robotic system designed
in R:SS I.  Addresses open research issues such as sustained autonomy,
situational awareness, and human interaction.  Students carry out an
experimental assessment of their design and deliver a final written
report and oral presentation.  Successful completion of R:SS I or 2.12
(or Permission of Instructors) is required for registration.

This subject is an EECS Departmental Laboratory.

Instructors:  N. Roy, S. Teller, J. Leonard, U.-M. O'Reilly, D. Rus
\end{verbatim}

\section*{6.189/2.994/16.401 Learning Objectives:}

\begin{itemize}
\item Learning Objectives: \\
Students will be able to: 
\begin{enumerate}
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\item Specify design requirements for an autonomous system performing some task;
\item Specify an integrated hardware and software design that satisfies the
  design requirements;
\item Use kinematics and control to design and implement controllers that
  satisfy the stated requirements;
\item Use knowledge of state estimation theory to design and implement algorithms
  and estimators that satisfy the stated requirements;
\item Use knowledge of planning and geometric reasoning to design and implement
  high-level planners that statisfy the stated requirements;
\item Critically evaluate different choices of design and architectures;
\item Design an integrated hardware and software system; and
\item Operate their system for an extended period, on the order of hours.
\end{enumerate}

\item Measurable Outcomes:
\begin{enumerate}
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\item A requirements specification document for the autonomous system and task;
\item An integrated software and hardware design document that satisfies the
  requirements;
\item An implemented controller as described by the design document;
\item An implemented modeller and state estimator as described by the design
  document;
\item An implemented planner as described by the design
  document that executes the given task;
\item The ability to take a position in a formal debate, for or against
  different design choices;
\item An integrated hardware-software system that performs the desired
  task; and
\item A document describing the implementation process and task
  performance,
  i.e., a clearly written final report.
\end{enumerate}
\end{itemize} 

\end{document}
