ai4r-notes CS 7638|all you need

Algorithms for Rob tics or: An Unofficial Companion Guide to the Georgia Institute of Technology’s CS7638: Robotics: AI Techniques George Kudrayvtsev Last Updated: April 24, 2020 (Draft) 0 Preface 3 1 Introduction to Probability 5 1.1 Localization ................................ 5 1.2 Probability ................................ 7 2 Sensing 8 3 Planning 9 3.1 An Algorithm: Greedy Search ...................... 11 3.2 Heuristic-Based Search .......................... 13 3.3 An Algorithm: The All-Seeing Ey .................. 14 4 Moving 17 4.1 Smoothing ................................. 17 4.2 PID Controller .............................. 18 4.2.1 P is for Proportional ....................... 18 4.2.2 D is for Derivative ........................ 20 4.2.3 I is for Integration ........................ 21 Integral Windup ......................... 21 4.2.4 Parameter Search: Twiddle .................. 22 5 Simultaneous Localization and Mapping 25 5.1 Constraints ................................ 26 5.1.1 Motion Constraints ........................ 27 5.1.2 Landmark Constraints ...................... 28 5.2 Generalization ............................... 29 1 kudrayvtsev 5.2.1 Introducing Noise ......................... 30 5.3 Summary ................................. 31 Index of Terms 33 2 kudrayvtsev Preface I read that Teddy Roosevelt once said, “Do what you can with what you have where you are.” Of course, I doubt he was in the tub when he said that. — Bill Watterson, Calvin and Hobbes Before we begin to dive into all things robotics, here are a few things I do in this notebook to elaborate on concepts: • An item that is highlighted like this is a “term;” this is some vocabulary or identifying word/phrase that will be used and repeated regularly in subsequent sections. I try to cross-reference these any time they come up again to link back to its first defined usage; most mentions are available in the Index. • The presence of a TODO means that I still need to expand that section or possibly to mark something that should link to a future (unwritten) section or chapter. • An item in a maroon box, like. . . Boxes: A Rigorous Approach . . . this example, often represents fun and interesting asides or examples that pertain to the material being discuss