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

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

Outline Review: Optimal Path Planning in Partially Known Environments. Continuous Optimal Path Planning

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

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 Topics: Bayes Filters Kalman filters Hidden markov models Additional readins G. Welch and G. Bishop. An Introduction to the Kalman Filter \. University of North Carolina at Chapel Hill

Conflicts and Kernel Diagnoses Generating Kernels from Conflicts Finding Consistent Modes Estimating Likely Modes Conflict-directed

Brian C Williams, copyright 2000 Mode estimation Mode reconfiguration Select a most likely set of Select a least cost set of component modes that are commandable component consistent with the model and modes that entail the current observations

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

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