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robot_design [2009-01-06 16:40] – davegriffiths | robot_design [2009-01-06 17:23] – davegriffiths | ||
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+ | Notes on robot design - see also [[lirec notes]]. | ||
+ | " | ||
- | ====Think hard - then act!==== | + | * 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' | ||
+ | |||
+ | ==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 | * Capable of learning and prediction | ||
* Finds strategic solution | * Finds strategic solution | ||
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* Slow | * Slow | ||
- | ====Don' | + | ===Don' |
* Fast | * Fast | ||
* Powerful, biological parallel | * Powerful, biological parallel | ||
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* Unable to plan ahead | * Unable to plan ahead | ||
* Unable to learn | * Unable to learn | ||
+ | |||
+ | ===Or do both!=== | ||
+ | * Deliberative system on top | ||
+ | * Reactive underneath | ||
+ | * Hybrid or Behavioural system | ||
====Links==== | ====Links==== |