CHAPTER 14 ROBOTICS
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
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.