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| robot_design [2009-01-06 16:42] – davegriffiths | robot_design [2009-01-07 15:05] (current) – 81.188.78.24 | ||
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| - | ====Deliberative vs Reactive==== | + | Notes on robot design - see also [[lirec notes]] & [[category robotics]]. |
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| + | Robotics is the intelligent connection of perception to action" | ||
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| + | * Perception: Sensors tell a robot about the outside world. | ||
| + | * Action: Actuators allow a robot to change the outside world, to act upon it. | ||
| + | * Intelligence: | ||
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| + | ====State==== | ||
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| + | State is what the robot collects in order to understand the world. | ||
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| + | (not too happy about these definitions...) | ||
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| + | * 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]]. | ||
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| + | ====Controllers==== | ||
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| + | Deliberative vs Reactive | ||
| ===Think hard - then act!=== | ===Think hard - then act!=== | ||
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| * Needs a world model | * Needs a world model | ||
| * Slow | * Slow | ||
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| + | For example : [[http:// | ||
| ===Don' | ===Don' | ||
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| * Unable to plan ahead | * Unable to plan ahead | ||
| * Unable to learn | * Unable to learn | ||
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| + | For example: [[http:// | ||
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| + | ===Or do both!=== | ||
| + | * Deliberative system on top | ||
| + | * Reactive underneath | ||
| + | * Hybrid or Behavioural system | ||
| ====Links==== | ====Links==== | ||