Robot Representations

Robots leverage mathematical models to create an “idea”, or representation, of the world around them, and place themselves within it.

These models are leveraged to quantify key features of the environment such as the presence of obstacles or viable paths, so to plan and execute actions aimed at achieving specific tasks.

Here, we introduce the most common tools and notions used to build robot representations.

The slides introduce groups as well as choices for world and robot representations.

For the accompanying exercise, please see Modeling and Control.