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上传时间: 2021-11-28 16:56:20
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1 INTRODUCTION 1
1.1 Uncertainty in Robotics 1
1.2 Probabilistic Robotics 3
1.3 Implications 5
1.4 Road Map 6
1.5 Bibliographical Remarks 7
2 RECURSIVE STATE ESTIMATION 9
2.1 Introduction 9
2.2 Basic Concepts in Probability 10
2.3 Robot Environment Interaction 16
2.3.1 State 16
2.3.2 Environment Interaction 18
2.3.3 Probabilistic Generative Laws 20
2.3.4 Belief Distributions 22
2.4 Bayes Filters 23
2.4.1 The Bayes Filter Algorithm 23
2.4.2 Example 24
2.4.3 Mathematical Derivation of the Bayes Filter 28
2.4.4 The Markov Assumption 30
2.5 Representation and Computation 30
2.6 Summary 31
2.7 Bibliographical Remarks 32