Massachusetts Institute of Technology 16.412/6.834 Cognitive Robotics Distributed: Monday, 3/31/04 Objective The purpose of the following handout is to walk you step by step through the execution of the FF planning algorithm, on a simple example. The FF algorithm is presented in the paper:

Readings in Planning as Forward Heuristic Search \The FF Planning System: Fast Plan Generation Through Heuristic Search,\ by Jorg Hoffmann and Bernhard Nebel, Journal of Artificial Intelligence Research, 2001. “Planning as Heuristic Search,\ by Blai Bonet and Hector Geffner, Artificial

Model-based Diagnosis a failure is a discrepancy between the model and observations of an artifact a diagnosis restores consistency 1. Enumerate candidates in order of likelihood

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

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

Massachusetts Institute of Technology -Prof de Weck and Prot. Wacox Massachusetts Institute of Technology-Prof de Weck and Prof willcox

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

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

Computer technologies have been changing the environment of engineering design-enabling MDO Hardware: Advances in processor speed, memory and storage Software: Powerful disciplinary analysis and simulation programs(e.g. Nastran, Fluent...)

The experience of the 1960s has shown that for military aircraft the cost of the final increment of performance usually is excessive in terms of other characteristics and that the overall system must be optimized, not just performance Ref: Current State of the art of Multidisciplinary design Optimization