Robot Control Issue Model of the world? Robust?
Problem of model based It seems reasonable Does it work well in practice? Model can hardly be realized Model based is more appropriated with structured environment Parallel nature? GIGO issue
Problem of model based Example, Self Charging Walk to beacon Engage charger approach maneuver Plug-in stop What if we are near the charger?
Problem of model based What if we are near the charger? Does our plan cover this case? Coupling between requirement Usually bug prone Model based is sometime computer oriented
Computer vs. Robot All computers are equivalent (turing machine) Any two robots are different
Truth about Robot Robots have sensors that measure the aspect of external worlds Robots have actuators that can act on the robot and on the world The output of a robots sensors always includes noise and other errors The commands given to a mobile robots actuators are never executed faithfully.