CSCE 452/752 Robotics and Spatial Intelligence, Fall 2025

Syllabus

Basic information

Course number:CSCE452/752
Time:Mondays and Wednesdays, 4:10pm–5:25pm
Location:HRBB 113
Credit hours:3

Course personnel

Email is the recommended method for contacting me. Messages in the Canvas messaging system, including comments attached to assignments, are not likely to be received in a timely manner.

Course description

The official catalog description for CSCE452 is:
Algorithms for executing spatial tasks; path planning and obstacle avoidance in two- and three-dimensional robots: configuration space, potential field, free-space decomposition methods; stable grasping and manipulation; dealing with uncertainty; knowledge representation for planning: geometric and symbolic models of the environment; task-level programming; learning.
The official description for CSCE752 is:
The algorithmic foundation of robotics including spatial representations, frame transformation and mapping, forward kinematics, inverse kinematics, mobile robots wheel kinematics, motion planning, sensors, camera calibration, stereo vision, simultaneous localization and mapping and navigation.
To summarize more succinctly:
This is a course about what happens when algorithms interact with the physical world.

Prerequisites and expectations

For CSCE452, there are two prerequisites:
  1. CSCE 315 (Programming Studio) or CSCE 331 (Foundations of Software Engineering)
  2. MATH 304 (Linear Algebra) or MATH 311 (Topics in Applied Mathematics I)
For CSCE752, the only formal prerequisite is to hold graduate standing.
Students will be expected to exhibit mature mathematical ability, mastery of fundamental algorithms and data structures, and strong programming skills, as appropriate for an upper-level course in computer science.
Assigned projects will require the use of the Robot Operating System (ROS) software system, which is best supported within the Ubuntu Linux operating system. The recommended programming language is Python. In-class demonstrations will be based on this Ubuntu+ROS+Python environment. You are welcome to identify and utilize other suitable operating systems or languages for your projects, provided that doing so does not trivialize the assignment. However, the instructor and TA will not be able to provide assistance with this. Note that commonly attempted alternatives to Linux, including Docker, Windows Subsystem for Linux, VirtualBox, and VMWare have proven troublesome to many students in the past.
Students will be expected to describe and evaluate technical concepts correctly using precise written English.

Learning outcomes

Upon finishing this class, students should be able to:

Textbooks and course materials

Information about the course, including scheduling information, assignments, and announcements, will be posted at this site:
https://jokane.net/x52
The same information will be synchronized to the official Canvas page for the course. If something in either of these locations seems to be wrong, inconsistent, or missing, please let me know via email.
No textbooks are required. These recommended textbooks may be helpful.
Gregory Dudek and Michael Jenkin, Computational Principles of Mobile Robotics, Third Edition. Cambridge University Press, New York, NY, 2024.
Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki, and Sebastian Thrun, Principles of Robot Motion: Theory, Algorithms and Implementations, MIT Press, Cambridge MA, 2005.
Studying these books carefully is likely to help you in this course.

Evaluation and grading

Grading for CSCE452

Your learning in this course will be evaluated based on the following elements:

Grading for CSCE752

For students enrolled in CSCE752, the evaluation will include all of the elements listed above for CSCE452, along with two additional elements:

Computation of final grades

Numerical final grades will be computed using the following weights.
CSCE452 CSCE752
Homework 10% 8%
Projects 30% 24%
Test 1 20% 16%
Test 2 20% 16%
Final Exam 20% 16%
Research presentation n/a 10%
Additional project n/a 10%

Special note for CSCE752 students

For students in CSCE 752, the weighted category totals displayed in the Canvas grade book are scaled to 120%, rather than 100%. This seems to be limitation of the way the Canvas platform handles this kind of combined course. To compute your correct score for the course, divide the total by 1.2.

Note on grades as computed by Canvas

Apart from the caveat mentioned above, efforts have been made to ensure that Canvas is configured to calculate grades correctly, accounting for weights of various types of assignments and other details of the grading policy. Nevertheless, if a discrepancy is discovered between Canvas-computed grades and the state course policies, the course policies in this syllabus will govern assignment of final grades.

Letter grade thresholds

Thresholds for determining final grades appear below. The instructor reserves the right to adjust these thresholds downward, but promises not to adjust them upward.

Gradebook access

Grades will be recorded via Canvas. It is your responsibility to verify that grades are correctly recorded on this site.

Corrections and regrades

My goal is to ensure that all of the grading for this course is fair and correct. If you believe there's been a mistake in grading, please bring it to the attention of the instructor within about one week after the scores are posted. Regrade requests after one week will be politely declined.

Important reminder

Keep in mind that I am grading your work, not you as a person.

Deviations from the grading policy

I assume that every student takes the class intending to succeed, and I share that goal. However, in the interest of fairness and consistency, requests for grade increases that are inconsistent with the stated grading scale will be politely declined. Here is an incomplete list of hypothetical requests from students that are not sufficient reasons to deviate from the stated grading scale:
  • Getting a grade lower than makes me feel sad.
  • I am about to graduate.
  • I am really close to getting a .
  • I am willing to do extra work.
  • If my grade is less than , I won't be able to graduate.
  • I have a good GPA so far.
  • I have been away from school for a few years.
  • I have never failed a class before.
  • I have never taken a course in this area before.
  • I have too many other responsibilities.
  • I have worked extremely hard in the course.
  • I need a GPA of at least to get the internship I want.
  • It doesn't hurt to ask!
  • I've never gotten a grade as low as before.
  • I want to get into graduate school.
  • My parents will be disappointed in me.
  • The course is too hard for me.

Academic Integrity

Academic misconduct undermines the educational mission of the course and is incompatible with each of our Aggie Core Values of Respect, Excellence, Leadership, Loyalty, Integrity, and Selfless Service. Therefore, you are expected to practice the highest possible standards of academic integrity.
All incidents of academic misconduct will be reported to the Aggie Honor System Office (ASHO). The standard academic penalty for academic misconduct is an F* grade for the course. Other penalties may be imposed within the Honor Code process.
This policy includes all forms of academic misrepresentation, including cheating; fabrication; multiple submissions; plagiarism; complicity; abuse and misuse of access; unauthorized access; and violation of college, program, departmental or course rules.
It is not acceptable in this course to submit work completed by anyone else as your own, to make your own work available to anyone else, nor to distribute or post the materials for the course in any venue. Any use of words, images, code, or ideas of others must be accompanied by complete and accurate citations. Use of the words, images, code or ideas of others without complete and accurate citation is plagiarism, which is considered a form of academic misconduct. The expectation is that the words, images, code, and ideas you submit will be your own original work, with the possible exception of occasional correctly cited quotations in support of your own ideas.
Unless an assignment includes instructions to the contrary, it is permissible to consult Internet resources to complete the assignments in this class, provided that you give adequate citations of every resource you consult. This policy includes both human-generated and AI-generated material. It is not permissible to copy code or anything else directly from the web. Representing the work of others as your own is never acceptable.
Submission of identical or substantially identical work will be considered strong evidence that violations of academic integrity by all involved have occurred. This means, among other things, that posting project code in any publicly-viewable repository (example: a public Github repository) is strongly discouraged. If others locate and utilize your code, you will be held responsible for providing it.
Additional details about the university's policies on academic misconduct appear below.

Schedule

The most important dates, which are unlikely to change, are: Students should plan their time, including potential plans to depart from College Station after the semester, in accordance with this schedule.

Policies

Attendance

You are expected to attend and participate in each lecture, and I will make every effort to ensure that class attendance is worth your time.

Mobile devices

Please silence any mobile devices before coming to class. If your phone rings in class, I reserve the right to answer it for you and take a message. Likewise, if my phone rings during class time, I will allow a student to answer it.

Policy changes

Changes to the syllabus at the instructor's reasonable discretion, including changes to the evaluation and grading mechanisms, are possible but unlikely.

Fast Track credit

Some undergraduate students are participating in the College of Engineering's Fast Track program, which essentially allows graduate-level courses to count toward bachelor's and master's degrees. Only students enrolled in CSCE 752 can receive Fast Track credit for this course. Please ensure that you are enrolled in the correct course. University rules prohibit switching between CSCE452 and CSCE752 after the add/drop period, despite the similarity between the two courses.

University-Wide Policies and Statements that Must be Included in Every Syllabus

Attendance Policy

The university views class attendance and participation as an individual student responsibility. Students are expected to attend class and to complete all assignments. Please refer to Student Rule 7 in its entirety for information about excused absences, including definitions, and related documentation and timelines.

Makeup Work Policy

Students will be excused from attending class on the day of a graded activity or when attendance contributes to a student's grade, for the reasons stated in Student Rule 7, or other reason deemed appropriate by the instructor. Please refer to Student Rule 7 in its entirety for information about makeup work, including definitions, and related documentation and timelines. “Absences related to Title IX of the Education Amendments of 1972 may necessitate a period of more than 30 days for make-up work, and the timeframe for make-up work should be agreed upon by the student and instructor.” (Student Rule 7, Section 7.4.1). “The instructor is under no obligation to provide an opportunity for the student to make up work missed because of an unexcused absence.” (Student Rule 7, Section 7.4.2). Students who request an excused absence are expected to uphold the Aggie Honor Code and Student Conduct Code. (See Student Rule 24.)

Academic Integrity Statement and Policy

“An Aggie does not lie, cheat or steal, or tolerate those who do.” “Texas A&M University students are responsible for authenticating all work submitted to an instructor. If asked, students must be able to produce proof that the item submitted is indeed the work of that student. Students must keep appropriate records at all times. The inability to authenticate one's work, should the instructor request it, may be sufficient grounds to initiate an academic misconduct case.” (Section 20.1.2.3, Student Rule 20). You can learn more about the Aggie Honor System Office Rules and Procedures, academic integrity, and your rights and responsibilities at aggiehonor.tamu.edu.

Notice of Nondiscrimination

Texas A&M University is committed to providing safe and non-discriminatory learning, living, and work environments for all members of the University community. The University provides equal opportunity to all employees, students, applicants for employment or admission, and the public regardless of race, color, sex (including pregnancy and related conditions), religion, national origin, age, disability, genetic information, or veteran status. Texas A&M University will promptly, thoroughly, and fairly investigate and resolve all complaints of discrimination, harassment (including sexual harassment), complicity and related retaliation based on a protected class in accordance with System Regulation 08.01.01, University Rule 08.01.01.M1, Standard Administrative Procedure (SAP) 08.01.01.M1.01, and applicable federal and state laws. In accordance with Title IX and its implementing regulations, Texas A&M does not discriminate on the basis of sex in any educational program or activity, including admissions and employment. The following person has been designated to handle inquiries and complaints regarding the non-discrimination policies: Jennifer M. Smith, TAMU Associate VP & Title IX Coordinator at YMCA Ste 108, College Station, TX 77843, 979-458-8407, or email civilrights@tamu.edu. For other reporting options, visit https://ocrcas.ed.gov/contact-ocr to locate the address and phone number of the office that serves your area, or call 1-800-421-3481.

Civil Rights, Free Speech, and Title IX Policies

Texas A&M University is committed to fostering a learning environment that is safe and productive for all. University policies and federal and state laws prohibit discrimination and harassment based on an individual's race, color, sex, (including pregnancy and related conditions), religion, national origin, age, disability, genetic information, veteran status, or any other legally protected characteristic. This includes forms of sex-based violence, such as sexual assault, sexual harassment, sexual exploitation, dating/domestic violence, and stalking. Students can report discrimination/harassment, access supportive resources, or learn more about their options for resolving complaints on the University's Civil Rights & Title IX webpage. Students should be aware that all university employees (except medical or mental health providers) are mandatory reporters, which means that if they observe, experience or become aware of an incident that they reasonably believe to be discrimination/harassment alleged to have been committed by or against a person who was a student or employee at the time of the incident, the employee must report the incident to the university.

Americans with Disabilities Act (ADA) Policy

Texas A&M University is committed to providing equitable access to learning opportunities for all students. If you experience barriers to your education due to a disability or think you may have a disability, please contact the Disability Resources office on your campus (resources listed below) Disabilities may include, but are not limited to attentional, learning, mental health, sensory, physical, or chronic health conditions. All students are encouraged to discuss their disability related needs with Disability Resources and their instructors as soon as possible. To request academic accommodations, contact  Disability Resources at (979) 845-1637 or disability@tamu.edu.  If you are experiencing difficulties with your approved accommodations, contact the office responsible for approving your accommodations or the Texas A&M ADA Coordinator Julie Kuder at ADA.Coordinator@tamu.edu or (979) 458-8407.

Pregnancy Accommodations

Texas A&M provides reasonable accommodations to students due to pregnancy and/or related conditions, such as childbirth, recovery and lactation.  Students should contact the University's Pregnancy Coordinator as soon as they become aware of the need for accommodation. Depending on the circumstances, accommodations could include extended time to complete assignments or exams, changes in course sequence, or modifications to the physical classroom environment.  Texas A&M will also allow a voluntary leave of absence, ensure the availability of lactation space, and maintain grievance procedures to provide for the prompt and equitable resolution of complaints of sex discrimination.   For information regarding pregnancy accommodations, email TIX.Pregnancy@tamu.edu.

Statement on Mental Health and Wellness

Texas A&M University recognizes that mental health and wellness are critical factors influencing a student's academic success and overall wellbeing. Students are encouraged to engage in healthy self-care practices by utilizing the resources and services available through University Health Services on its mental health webpage. The TELUS Health Student Support app provides access to professional counseling in multiple languages anytime, anywhere by phone or chat, and the 988 Suicide & Crisis Lifeline offers 24-hour emergency support at 988 or 988lifeline.org. Students needing a listening ear can contact University Health Services (979.458.4584) 24-hour emergency help is also available through the 988 Suicide & Crisis Lifeline (988) or at 988lifeline.org.

Statement on the Family Educational Rights and Privacy Act (FERPA)

FERPA is a federal law designed to protect the privacy of educational records by limiting access to these records, to establish the right of students to inspect and review their educational records and to provide guidelines for the correction of inaccurate and misleading data through informal and formal hearings. Currently enrolled students wishing to withhold any or all directory information items can do so within howdy.tamu.edu using the Directory Information Withholding Form. The complete FERPA Notice to Students and the student records policy is available on the Office of the Registrar webpage. Items that can never be identified as public information are a student's social security number, citizenship, gender, grades, GPR or class schedule. All efforts will be made in this class to protect your privacy and to ensure confidential treatment of information associated with or generated by your participation in the class. Directory items include name, UIN, local address, permanent address, email address, local telephone number, permanent telephone number, dates of attendance, program of study (college, major, campus), classification, previous institutions attended, degrees honors and awards received, participation in officially recognized activities and sports, medical residence location and medical residence specialization.