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robot_design [2009-01-06 16:46] – davegriffiths | robot_design [2009-01-06 17:32] – 86.169.225.249 | ||
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Notes on robot design - see also [[lirec notes]]. | Notes on robot design - see also [[lirec notes]]. | ||
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+ | " | ||
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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. | ||
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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 to 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]]. | ||
====Deliberative vs Reactive==== | ====Deliberative vs Reactive==== | ||
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* Unable to plan ahead | * Unable to plan ahead | ||
* Unable to learn | * Unable to learn | ||
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+ | ===Or do both!=== | ||
+ | * Deliberative system on top | ||
+ | * Reactive underneath | ||
+ | * Hybrid or Behavioural system | ||
====Links==== | ====Links==== |