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

Temporal Planning in Space Brian C. Williams 16.412J/6.834J based on \Handling Time: February 23rd, 2004 Constraint-based Interval Planning,\ by David E. Smith Outline Operational Planning for the Mars Exploration Rovers

Executing Model-based Programs Using Graph-based Temporal Planning Prof. Brian C. Williams February 23rd, 2004 16.412/6.834 Cognitive Robotics based on [Kim, Williams Abramson, IJCAIO1] Outline MERS

Foundations of State Estimation PartⅡ Topics: Hidden Markov Models Particle Filters Additional reading: L. R. Rabiner, \ tutorial on hidden Markoy models,\ Proceedings of the IEEE, vol. 77,. 257-286, 1989 Radford M. Neal, 1993. Probabilistic Inference Using Markov Chain Monte

Images taken from slides by B. Bayazit, G. Dudek, J. C. Latombe and. Moore Robot Motion Planning and (a little)Computational Geometry Topics: Transforms Topological Methods Configuration space Skeletonization Potential Functions Cell-decomposition Methods Non-holonomic Motion Collision

Probabilistic roadmaps Planning in the real world Planning amidst moving obstacles RRT-based planners Conclusions Applicability of Lazy PRM to Spheres

Outline Review: Optimal Path Planning in Partially Known Environments. Continuous Optimal Path Planning

Outline Path Planning in Partially Known Environments. Finding the Shortest Path to the Goal. Alternative Approaches to Path Planning in Partially Known Environments. Continuous Optimal Path Planning

Course Objective 1 To understand the main types of cognitive robots and their driving requirements Robots That navigate Hallway robots, Field robots, Underwater explorers, stunt air vehicles Engineering and\Immobile robots Intelligent spaces Robust space probes