Outline Review of Diagnosis and Mode Estimation Generalizing Mode Estimation to Optimal CSPs Model-based Programming W/o State Mode Estimation as Trajectory Tracking Estimating Dynamic Systems Given sequence of commands and observations 1. Infer current distribution of(most likely) states 2. Infer(most likely) trajectories27 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 28 Estimating Dynamic Systems Given sequence of commands and observations: 1. Infer current distribution of (most likely) states 2. Infer (most likely) trajectories S T X0 X1 XN-1 XN S T