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CHAPTER 14

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  1. CHAPTER 14 ROBOTICS

  2. Mobile Robots

  3. Manipulator Robots

  4. Sensors and Effectors

  5. Motion as Search

  6. Decomposition Methods

  7. Approximate Decomposition

  8. Skeletonization Methods

  9. Probabilistic Roadmaps

  10. 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

  11. Probabilistic Robotics in Context

  12. Robot Environment Interaction

  13. Robot Environment Interaction

  14. Localization

  15. Monte Carlo Localization

  16. 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.

  17. Course Summary

  18. Course Summary

  19. Course Summary

  20. Course Summary