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--- robot_design [2009-01-06 17:00] – davegriffiths
+++ robot_design [2009-01-06 17:16] – davegriffiths
@@ Line 3: / Line 3: @@
 "Robotics is the intelligent connection of perception to action" - Michael Brady
-====Understanding the world====
+  * Perception: Sensors tell a robot about the outside world.
+  * Action: Actuators allow a robot to change the outside world, to act upon it.
-Sensors tell a robot about the outside world.
+====State====
-Actuators allow a robot to change the outside world, to act upon it.
+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====