Transcription of Probabilistic Algorithms in Robotics - Sebastian Thrun
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Probabilistic Algorithms in Robotics - Sebastian Thrun
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 acknowledged.
the following: A robot that carries a notion of its own uncertainty and that acts accordingly, will do better than one that does not. In particular, probabilisticapproaches are typically more robust in …
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