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

Multidisciplinary System An mdo value framework Design Optimization(MSDO) Lifecycle cost models Design for Value Value metrics valuation techniques ecture 24 Value-based mdo

L23- Fast Time Domain simulation via decomposition Prof olivier de Weck imulation of lti systems LTI systems are very common in engineering applications and simulating them is of great importance small dynamic urge dynamic

Plan for the Session Basic concepts in probability and statistics Review design of experiments Basics of Robust Design Research topics - Model-based- assessment of RD methods Faster computer-based robust design Robust invention