CHAPTER 14 ROBOTICS.

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Presentation transcript:

CHAPTER 14 ROBOTICS

Mobile Robots

Manipulator Robots

Sensors and Effectors

Motion as Search

Decomposition Methods

Approximate Decomposition

Skeletonization Methods

Probabilistic Roadmaps

Potential Field Methods So far: implicit preference for short paths Rational agent should balance distance with risk! Idea: introduce cost for being close to an obstacle Can do this with discrete methods (how?) Usually most natural with continuous methods

Probabilistic Robotics in Context

Robot Environment Interaction

Robot Environment Interaction

Localization

Monte Carlo Localization

SLAM Simultaneous Localization and Mapping Estimate a map of the world, as well as your position of it, at the same time! It’s hard: If robot had a map, localization would be easier (still hard) If robot knew where it was, building a map would be easier (still hard) Issues of scale, approximations, etc.

Course Summary

Course Summary

Course Summary

Course Summary