Review: Constraint-based Interval Planning Simple Temporal Networks Schedulability and Scheduling Review: Temporal, Model-based Programming Managing Execution Uncertainty Execution with Dynamic Scheduling Execution with Explicit Models of Uncertainty

Defining problem and model so| ution: Minimizing localization error Comb imize gain in explored map bined Information Utilities Integrated Adaptive Information-based Exploration Algorithm

Outline Lightning Summary Black Box Model of SIFT SLAM Vision System Challenges in Computer Vision What these challenges mean for visual SLAM How SIFT extracts candidate landmarks How landmarks are tracked in SIFT SLAM Alternative vision-based SLAM systems Open questions

Vision-based SLAM Mobile Robot Localization And Mapping With Uncertainty using Scale-Invariant Visual Landmarks -e,lowe, Little Vikash Mansinghka Spren Riisgaard Outline

Leslie Pack Kaelbling, Michael. Littman and Anthony R. Cassandra, \Planning and Acting in Partially Observable Stochastic Domains,\ Artificial Intelligence, Vol. 101, 1998. j. Pineau,g. Gordon&s. Thrun\Point-based- value iteration: An anytime algorithm for POMDPs\. International Joint Conference on Artificial Intelligence(JCAI) Acapulco, Mexico. Aug

Outline Model-based programming The need for model-based reactive planning The Burton model-based reactive planner Artificial Intelligence Space Systems

Fast Solutions to CSp's Based on PROSSER, P. Hybrid algorithms for the constraint satisfaction problem. Computational Intelligence

Massachusetts Institute of Technology 16.412/6.834 Cognitive Robotics Distributed: Monday, 3/31/04 Objective The purpose of the following handout is to walk you step by step through the execution of the FF planning algorithm, on a simple example. The FF algorithm is presented in the paper:

Distributed constraint Satisfaction problems 2 Asynchronous algorithms Thomas leaute 16.412J-Cognitive Robotics april 7. 2004 Presentation outline Introduction to CSPs and DCSPs 2. The Asynchronous Backtracking Algorithm 3. The asynchronous Weak-Commitment Search algorithm 4. Conclusion and Introduction to the task Allocation problem M. Yokoo, E Durfee, T. Ishida and K. Kuwabara, Distributed Constraint Satisfa

Cognitive Robotics Outline Temporal Action Graph Walksat: Stochastic Local Search Better Neighbor Relaxed Plan A. Gerevini, A. Saetti, I. Serina \Planning through Stochastic Local Search and Temporal Action Graphs\, to appear in Journal of Artificial Intelligence