Machines that act in the physical world.
WHAT THE COMPONENTS ARE
- Sensing: perceiving the environment
- Perception: interpreting what was sensed
- Localisation: knowing where you are
- Planning: deciding what to do
- Control: executing it physically
WHAT MAKES IT HARDER THAN SOFTWARE ALONE
The physical world is uncertain, sensors are noisy, actuators are imprecise, and mistakes have physical consequences.
WHAT SENSOR FUSION DOES
Combines several sensors, each unreliable differently, into a better estimate.
WHY THAT IS NECESSARY
No single sensor is adequate: cameras fail in darkness, distance sensors fail on certain surfaces, positioning fails indoors.
WHAT SIMULTANEOUS LOCALISATION AND MAPPING DOES
Builds a map while determining position within it.
WHY THAT IS HARD
Each depends on the other.
WHAT CONTROL THEORY PROVIDES
Driving a system toward a desired state, accounting for its dynamics.
WHAT FEEDBACK CONTROL DOES
Measures the result and corrects continuously.
WHAT SAFETY REQUIRES
Failing to a safe state Independent safety mechanisms, not depending on the main system Bounded behaviour, so a fault cannot produce arbitrary motion
WHAT TO TEST IN SIMULATION
Everything possible, since physical testing is slow and risky.
WHAT SIMULATION CANNOT REPRODUCE
The exact behaviour of real sensors and real surfaces.
