Fast Solutions to CSPs Presented by: Robert Effinger Dan Lovell Presented To: 16.412J Cognitive Robotics MIT References: \Dynamic Backtracking\ Matthew L. Ginsberg, CIRL, University of Oregon Journal of Artificial Intelligence Research 1(1993)

Readings in Planning as Forward Heuristic Search \The FF Planning System: Fast Plan Generation Through Heuristic Search,\ by Jorg Hoffmann and Bernhard Nebel, Journal of Artificial Intelligence Research, 2001. “Planning as Heuristic Search,\ by Blai Bonet and Hector Geffner, Artificial

Using the Forest to See the Trees: Context-based Object Recognition Bill Freeman Joint work with Antonio Torralba and Kevin Murphy Computer Science and Artificial Intelligence Laboratory MIT computer vision goal Recognize many different objects under many viewing conditions in unconstrained settings

Hybrid Mode Estimation and Gaussian Filtering with Hybrid HMMs Stanislav funiak 16. 412/6.834 Lecture, 15 March 2004 References Hofbaur, M. W, and Williams, B C(2002). Mode estimation of probabilistic hybrid systems. In: Hybrid Systems: Computation and Control Hscc 2002 Funiak, S, and Williams, B. C (2003 ). Multi-modal particle filtering for hybrid systems with autonomous mode transitions. In: DX-2003 SafeProcess 2003 Lerner, U.,R. Parr, D. Koller and G. Biswas(2000). Bayesian fault detection and diagnosis in dynamic

Model-based Diagnosis a failure is a discrepancy between the model and observations of an artifact a diagnosis restores consistency 1. Enumerate candidates in order of likelihood

Brian C Williams, copyright 2000 Mode estimation Mode reconfiguration Select a most likely set of Select a least cost set of component modes that are commandable component consistent with the model and modes that entail the current observations

Mapping Topics: Topological Maps SLAM HMMs Revisited Additional reading: B. J. Kuipers Y.-T. Byun. 1991. \A robot exploration and mapping strategy based on a semantic hierarchy of spatial rep rstations. jour. s and

Conflicts and Kernel Diagnoses Generating Kernels from Conflicts Finding Consistent Modes Estimating Likely Modes Conflict-directed

Fault Aware Systems: Model-based Programming and Diagnosis Brian C. Williams 16.412J/6.834J March 8th, 2004 courtesy of JPL Four launches in 7 months MERS CSAIL

Foundations of state Estimation Topics: Bayes Filters Kalman filters Hidden markov models Additional readins G. Welch and G. Bishop. An Introduction to the Kalman Filter \. University of North Carolina at Chapel Hill