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Robotics - Artificial Intelligence: A Modern Approach

RoboticsChapter25 Chapter251 OutlineRobots,E ectors,andSensorsLocalizationandMappingM otionPlanningMotor ControlChapter252 MobileRobotsChapter253 ManipulatorsRRRPRRCon gurationof robot speci edby 6 numbers)6degreesof freedom(DOF)6 is theminimumnumber requiredto positionend-e ector dynamicalsystems,addvelocity for (x, y) A car hasmore DOF(3)thancontrols(2),so isnon-holonomic;cannotgenerallytransitio nbetweentwo in nitesimallyclosecon gurationsChapter255 SensorsRange nders: sonar (land,underwater),laserrange nder,radar (aircraft),tactilesensors,GPSI magingsensors: cameras(visual,infrared)Proprioceptivese nsors: shaftdecoders(joints,wheels),inertialsen sors,forcesensors,torquesensorsChapter25 6 Localization|WhereAmI?Computecurrentloca tionandorientation(pose) givenobservations:Xt+1 XtAt 2At 1 AtZt 1Xt 1 ZtZt+ , yivt tt tt+1xt+1h(xt)xt t Z1Z2Z3Z4 AssumeGaussiannoisein motionprediction,sensor lteringto produceapproximatepositionestimateRobot positionRobot positionRobot lterfor simplecases:robotlandmarkAssumesthatland marksareidenti able|otherwise,posterior is multimodalChapter2510 MappingLocalization:givenmapandobservedl andmarks,updateposedistributionMapping:g ivenposea

Manipulators R R R P R R Con guration of robot speci ed by 6 numbers) 6 degrees of freedom (DOF) 6 is the minimum number required to position end-e ector arbitrarily.

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