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--- robot_design [2009-01-06 16:36] – created davegriffiths
+++ robot_design [2009-01-06 17:23] – davegriffiths
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+Notes on robot design - see also [[lirec notes]].
+"Robotics is the intelligent connection of perception to action" - Michael Brady
+  * Perception: Sensors tell a robot about the outside world.
+  * Action: Actuators allow a robot to change the outside world, to act upon it.
+====State====
+State is what the robot collects in order to understand the world.
+(not to happy about these definitions...)
+==Internal state==
+Directly observable state of the robot. Also it's internal representation of the world - it's internal model.
+==External state==
+What's happening in the real world. Can only be known via a robot's sensors.
+==Observable state==
+Known at all times, usually internal - eg. battery state.
+==Partially observable state==
+Through a sensor, along with noise eg: camera image pixels
+==Hidden state==
+What you are actually interested in, in the real world - eg: position of user's head.
+Can't be directly known, must be indirectly inferred from (maybe multiple) sensors. See [[sensor fusion]].
+====Deliberative vs Reactive====
 ===Think hard - then act!===
   * Capable of learning and prediction
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   * Unable to learn
-From [[|here]]
+===Or do both!===
+  * Deliberative system on top
+  * Reactive underneath
+  * Hybrid or Behavioural system
+====Links====
+Artificial Intelligence versus classical Robotics:
+http://www.ee.pdx.edu/~mperkows/CLASS_479/hardware/014.Robot-Control-Architectures.ppt
+http://eng.upm.edu.my/~kmbs/teaching/robotics/W6.pdf