Model-based Programming and constraint-based hmms Brian c williams 16412J/6834J March 15th 2004 Image courtesy of JPL Brian C Williams, copyright Outline Review of Diagnosis and Mode Estimation Generalizing mode estimation to Optimal csPs Model-based Programming w/o State Mode Estimation as Trajectory Tracking1 Image courtesy of JPL Model-based Programming and Constraint-based HMMs Brian C. Williams 16.412J/6.834J March 15th, 2004 Brian C. Williams, copyright 2000 2 Outline x Review of Diagnosis and Mode Estimation x Generalizing Mode Estimation to Optimal CSPs ƒ Model-based Programming w/o State ƒ Mode Estimation as Trajectory Tracking