Sumários
Task planning: basic logic concepts
7 novembro 2019, 14:00 • Rodrigo Ventura
The task planning problem. Logic-based planing: introduction to logic concepts (syntax, semantics, interpretations, propositions, representation of objects, functions and relations. Differences between propositional logic and predicate logic. Introduction to situation calculus.
Simultaneous Localization And Mapping
5 novembro 2019, 14:00 • Rodrigo Ventura
Pose graph optimization methods. GraphSLAM and iSAM.
MCL and Mapping
29 outubro 2019, 14:00 • Rodrigo Ventura
Markov Localization. Monte Carlo Localization (MCL). How to modify plain MCL to handle kidnapping. Occupancy grid mapping: log odds representation; recursive algorithm to update occupancy grid maps.