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robot_design [2009-01-06 17:00] – davegriffiths | robot_design [2009-01-06 17:16] – davegriffiths | ||
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- | ====Understanding | + | * Perception: Sensors tell a robot about the outside |
+ | * Action: Actuators allow a robot to change the outside world, to act upon it. | ||
- | Sensors tell a robot about the outside | + | ====State==== |
- | Actuators allow a robot to change | + | |
+ | 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 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==== | ====Deliberative vs Reactive==== |