Assignment problem Persons and tasks connected by links Objective: Minimize total task time minutes Carburetor Manny 4 minutes Valves

Courtesy or Eric Feron and Sommer Gentry. Used with permission. Introduction to Linear Programming Eric Feron (updated Sommer Gentry)

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Robot localization 3 canonical problems Position Tracking Global Localization Kidnapped robot problem onot the mapping problem. We always assume we have a map To start without a map or model is the Simultaneous Localization and Mapping problem, or SLAM. also known as concurrent Mapping and Localization

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Roadmap path planning Brian C. williams 16410-13 October 27th. 2003 Assignment · Reading: Path Planning: AIMA Ch 25.4 Homework Online problem set #7 due Monday, November 3rd

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How do we maneuver ImagestakenfromNasa'Swebsitehttp://www.nasa.gov/ Roadmaps are an effective state space abstraction Brian Williams, Spring 0 Courtesy of U.S. Geological survey

Histol · Kautz and selman.1992 Inspired by improvements in satisfiabity algorithms Big Idea Encode planning problem as a(very large) logical formula Initial-state all-possible-actions goal Find a satisfying assignment to action-time propositions, and we have a plan

Achieving Arc Consistency via Constraint Propagation Arc consistency eliminates values of each variable domain that can never satisfy a particular constraint (an arc Directed arc (Vi, v) is arc consistent if VXED, 3yED, such that(x, y) is allowed by constraint C