16-311 Introduction to Robotics
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  16-311 Homework 6

16-311 Homework 6

Learning Objectives

  1. Recall important facets of search algorithms.
  2. Practive graph search algorithms.
  3. Complete a sample path-planning problem.


When localizing, we use sensor information to supplement odometry predictions about where we have traveled. In combination with a known map, we can use these two predictors to make a probabilistic guess of where we are even if we don't know where we start. Here is a video using odometry information and lidar data to predict where the robot is in the world: LIDAR based localization indoors on a Wandboard with amcl .

Homework Requirements

The specifications for Homework 6 are presented in the following document.

Homework 6 Handout


Last updated 02/20/2019 by Hannah Lyness
(c) 1999-2019: Howie Choset, Carnegie Mellon