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Slide courtesy of S. Thrun, D. Fox and W. Burgard SA-1 Slide courtesy of S. Thrun, D. Fox and W. Burgard Slide courtesy of S. Thrun, D. Fox and W. Burgard Slide courtesy of S. Thrun, D. Fox and W. Burgard CSE-571 - AI-based Mobile Robotics CS 547: Sensing and Planning in Robotics Gaurav S. Sukhatme Computer Science Robotic Embedded Systems Laboratory University of Southern California gaurav@ /~gaurav (Slides adapted from Thrun, Burgard, Fox book slides) Lecture 2 Bayes Filters: Framework Given: Stream of observations z and action data u: Sensor model P(z|x). Action model P(x|u,x’). Prior probability of the system state P(x). Wanted: Estimate of the state X of a dynamical system. The posterior of the state is also called Belief: Recursive Bayesian Updating Markov assumption: zn is independent of d1,...,dn-1 if we know x. Markov Assumption Underlying Assumptions Static world Independent noise Perfect model, no approximation errors Recursive Bayesian Updating Action Update Bayes Filter Algorithm Algorithm Bayes_filter( Bel(x),d ): h=0 If d is a perceptual data item z then For all x do For all x do Else if d is an action data item u then For all x do Return Bel’(x) Discrete Bayes Filter Algorithm Algorithm Discrete_Bayes_filter( Bel(x),d ): h=0 If d is a perceptual data item z then For all x do For all x do Else if d is an action data item u then For all x do Return Bel’(x) Bayes Filters Bayes z = observation u = action x = state Markov Markov Total prob. Markov Slide courtesy of S. Thrun, D. Fox and W. Burgard SA-1 Slide courtesy of S. Thrun, D. Fox and W. Burgard Slide courtesy of S. Thrun, D. Fox and W. Burgard Slide courtesy of S. Thrun, D. Fox and W. Burgard CSE-571 - AI-based Mobile Robotics * * * * * *
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