Transcription of Probabilistic Algorithms in Robotics
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Probabilistic Algorithms in Robotics
Probabilistic Algorithms in RoboticsSebastian ThrunApril 2000 CMU-CS-00-126 School of Computer ScienceCarnegie Mellon UniversityPittsburgh, PA 15213 AbstractThis article describes a methodology for programming robots known asprobabilistic Robotics . The proba-bilistic paradigm pays tribute to the inherent uncertainty in robot perception, relying on explicit represen-tations of uncertainty when determining what to do. This article surveys some of the progress in the field,using in-depth examples to illustrate some of the nuts and bolts of the basic approach. Our central con-jecture is that the Probabilistic approach to Robotics scales better to complex real-world applications thanapproaches that ignore a robot s research is sponsored by the National Science Foundation (and CAREER grant number IIS-9876136 and regular grantnumber IIS-9877033), and by DARPA-ATO via TACOM (contract number DAAE07-98-C-L032) and DARPA-ISO via Rome Labs(contract number F30602-98-2-0137), which is gratefully ack
Autonomous robots must act in the face of uncertainty—a direct consequence of their inability to know what is the case. When making decisions, probabilistic approaches take the robot’s uncertainty into account. Some consider only the robot’s current uncertainty, others anticipate
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