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Filip Bártek

Monte Carlo localization - Wikipedia, the free encyclopedia - 0 views

  • particle filter localization
  • typically starts with a uniform random distribution of particles
  • hopefully most particles will converge to where the robot actually is.
  • ...19 more annotations...
  • environment is static and does not change with time
    • Filip Bártek
       
      We also need to capture the robot's velocity in the state (pose) in case the robot has some momentum, so the three parameters may be not enough for a 2D robot.
  • assumes the Markov property
  • position and orientation
  • particles are uniformly distributed over the configuration space
  • Given a map
  • every time
  • every time
  • motion_update
  • sensor_update
  • sensor_update
  • some noise is applied
  • It now believes it is at one of two locations.
  • The robot has successfully localized itself.
  • actuation command
  • no actuator is perfect: they may overshoot or undershoot the desired amount of motion
  • the motion model must be designed to include noise as necessary
  • Particles which were consistent with sensor readings are more likely to be chosen
  • possibly more than once
  • a robot becomes increasingly sure of its position as it senses its environment
Filip Bártek

Recursive Bayesian estimation - Wikipedia, the free encyclopedia - 0 views

  • is constant relative to
  • is constant relative to
  • is constant relative to
  • ...13 more annotations...
  • Markov assumption
  • conditionally independent of the other earlier states
  • measurement at the k-th timestep is dependent only upon the current state
  • proportional
    • Filip Bártek
       
      It is proportional with the factor \alpha. \alpha = 1 / p(z_k|z_{1:k-1}) A way to compute the value of \alpha is shown below. It is common to all the updated states x_k at a given time k and measurement z_k.
  • predicted
  • predict and update steps
  • predicted state
    • Filip Bártek
       
      p(x_k|z_{1:k-1})
  • update
  • marginalising out the previous states
  • measurement likelihood
    • Filip Bártek
       
      p(z_k|x_k)
  • is constant relative to
  • can usually be ignored in practice
    • Filip Bártek
       
      We are typically interested in relative probabilities of the states. Equivalently [?], the p(x_k|z_{1:k}) across all the estimated states x_k is a probability distribution: \Sum_{x_k}{p(x_k|z_{1:k})} = 1
  • simply normalized, since its integral must be unity
Astro Biology

Know When Milky Way Collision Occur - 0 views

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    NASA scientist have found proof that our Milky Way had an encounter with a small galaxy or massive dark matter structure perhaps as recently as 100 million years ago. Are you also interested to know how galaxies form, evolve and interact?
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    NASA scientist have found proof that our Milky Way had an encounter with a small galaxy or massive dark matter structure perhaps as recently as 100 million years ago. Are you also interested to know how galaxies form, evolve and interact?
Astro Biology

How Massive Geographic Change may have Triggered Explosion of Animal Life - 0 views

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    Scientist are researching about geologic history that may help to solve the riddle of the "Cambrian explosion," the rapid diversification of animal life in the fossil record. Learn more about what Cambrian explosion is and how it has affected animal's life in the past.
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    Scientist are researching about geologic history that may help to solve the riddle of the "Cambrian explosion," the rapid diversification of animal life in the fossil record. Learn more about what Cambrian explosion is and how it has affected animal's life in the past.
Astro Biology

Know More about Robotic Mars Mission - 0 views

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    Do you know Robotic missions to Mars have revealed clues about the planet's atmosphere and surface composition? NASA is investing to find and use natural resources beyond Earth. Want to know more about Robotic Mars Mission.
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Extreme Ultraviolet Image of a Significant Solar Flare - 0 views

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Astro Biology

Earth's magnetic field has flipped - 0 views

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Astro Biology

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Astro Biology

What Is Pluto? A Planet or Exoplanet - 0 views

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    Astronomers have found Pluto sized object beyond Neptune now they have a debate to decide what to call a Pluto a planet or exoplanet. Curious to know more about it.
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Astro Biology

Latest News from Astrobiology Magazine - 0 views

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    Get latest NASA invention's pictures, discoveries, technologies, space exploration and other news only at Astrobiology Magazine. Join us on Pinterest to see current happenings in Universe.
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    Get latest NASA invention's pictures, discoveries, technologies, space exploration and other news only at Astrobiology Magazine. Join us on Pinterest to see current happenings in Universe.
Astro Biology

NASA Begins Construction Of Mars Lander - 0 views

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York Jong

新型機器人知道自我「療傷」 - 2 views

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    簡介:現在,機器人受傷後也可以自行解決了。在一些新的或危險情況下工作的機器人難免「受傷」,一旦重要部位損壞,機器人就無法工作。美國康奈爾大學的研究人員最近研制了一個4條腿?
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    i'm more genius than machine
David Corking

BBC NEWS | Technology | Tweeting mouse trap and window | June 2009 - 0 views

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    'The house that tweets' This 2 minute video interview with Andy Stanford-Clark is much more entertaining than the YouTube interview I bookmarked earlier. Lots of action shots of home telemetry, Andy's Java midlet on his phone, and what I think is a GNOME desktop showing his home's web interface.
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