1. Fred Martin
Sequential strategies
Reactive strategies
Maja Mataric
Deliberative approach
Reactive approach
Behavior-Based approach

4. Shaft encoders
Sonic range finders
Compass

5. Perceptual zones
for sonic range finders

8. 1 or 2 ?

10. wall

11. wall
turn right

16. Landmark detection
Landmarks are walls either on one side or on
both sides: LW, RW, C.
Wall detection: average compass bearing stable
and repeatedly short readings on its
side then confidence counter
incremented
confidence counter > threshold

18. Landmark descriptor
<T,C,L,P>
T: LW, RW, C, I
C: compass bearing
L: length
P: position (x,y)

20. Map building

22. Path planning

23. Representation of space
Topological map
Cartesian map y x

24. Lesson 10, Localization 1

28. PilotSquare

29. PilotSquare

30. PilotSquare
Systematic odometry errors
Non-systematic errors

31. Move in a straight line
travel(20)
Rotate on-the-spot
rotate(90)

40. PilotMonitor
PilotRoute

42. Monte Carlo localization