2. Last week’s exercise RobotStadium Introduction to SVN (versioning/collaboration tool) Tasks Locomotion: need to get up and run Perception: need to orient itself Communicate: need to share information Localize: need to reason about space Deliberate: need to plan what to do next Share the load: 1 or 2 tasks per student Present your plan in 2 weeks in class – be specific
4. Localization Gyroscope Odometry Control input GPS Landmarks Sensor input with different uncertainties. What is the overall uncertainty of the estimate?
6. Error Propagation Intuition: the more sensitive the estimated quantity is to perception error, the more this sensor should be weighted Covariance matrix Representing output uncertainties Function relating sensor input to output quantities Covariance matrix representing input uncertainties
18. Exercise: Navigation Algorithms Find the shortest path from A to B Choose the map representation Devise an algorithm to extract path
19. Reactive vs. Deliberative Planning So far Move randomly Use heuristics (follow wall, spiral, …) Use landmarks (infrared beacons, magnet wire) Use gradients / feedback control (Exercise 2) Today Deliberative planning Reason on abstract representation