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:

Outline Model-based programming The need for model-based reactive planning The Burton model-based reactive planner Artificial Intelligence Space Systems

Vision-based SLAM Mobile Robot Localization And Mapping With Uncertainty using Scale-Invariant Visual Landmarks -e,lowe, Little Vikash Mansinghka Spren Riisgaard Outline

Defining problem and model so| ution: Minimizing localization error Comb imize gain in explored map bined Information Utilities Integrated Adaptive Information-based Exploration Algorithm

模块六数控电火花线切割机床与操作 数控电火花线切割机床认识项目→ 项目一数控电火花线切割机床加工特点→ 项目二数控电火花线切割机床分类→ 项目三数控电火花线切割机床工艺范围→ 项目四数控电火花线切割机床主要技术参数→ 数控电火花线切割机床了解项目→ 项目一数控电火花线切割机床基本组成→ 项目二坐标工作台→ 项目三走丝机构→

Partially Observable Markov Decision Processes Part II Additional reading: Anthony R. Cassandra. Exact and Approximate Algorithms for Partially Observable Markov Decision Processes. Ph. D. Thesis. Brown University Department of Computer Science, Providence, RI

Review: Constraint-based Interval Planning Simple Temporal Networks Schedulability and Scheduling Review: Temporal, Model-based Programming Managing Execution Uncertainty Execution with Dynamic Scheduling Execution with Explicit Models of Uncertainty

Outline Lightning Summary Black Box Model of SIFT SLAM Vision System Challenges in Computer Vision What these challenges mean for visual SLAM How SIFT extracts candidate landmarks How landmarks are tracked in SIFT SLAM Alternative vision-based SLAM systems Open questions

Leslie Pack Kaelbling, Michael. Littman and Anthony R. Cassandra, \Planning and Acting in Partially Observable Stochastic Domains,\ Artificial Intelligence, Vol. 101, 1998. j. Pineau,g. Gordon&s. Thrun\Point-based- value iteration: An anytime algorithm for POMDPs\. International Joint Conference on Artificial Intelligence(JCAI) Acapulco, Mexico. Aug

Fast Solutions to CSp's Based on PROSSER, P. Hybrid algorithms for the constraint satisfaction problem. Computational Intelligence