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Ch. 15 – Probabilistic Reasoning Over Time

Ch. 15 – Probabilistic Reasoning Over Time. Supplemental slides for CSE 327 Prof. Jeff Heflin. Umbrella World Example. P (R 0 )=<0.5,0.5>. Rain t-1. Rain t. Rain t+1. Umbrella t+1. Umbrella t-1. Umbrella t. Filtering (Umbrella World). On day 1, if U 1 =true prediction from t=0 to t=1

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Ch. 15 – Probabilistic Reasoning Over Time

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  1. Ch. 15 – Probabilistic Reasoning Over Time Supplemental slides for CSE 327 Prof. Jeff Heflin

  2. Umbrella World Example P(R0)=<0.5,0.5> Raint-1 Raint Raint+1 Umbrellat+1 Umbrellat-1 Umbrellat

  3. Filtering (Umbrella World) On day 1, if U1=true • prediction from t=0 to t=1 = <0.7,0.3>  0.5 + <0.3,0.7>  0.5 = <0.5,0.5> • update with evidence for t=1 = <0.9,0.2><0.5,0.5> = <0.45,0.1>  <0.818,0.182> On day 2, if U2=true • prediction from t=1 to t=2 = <0.7,0.3>  0.818 + <0.3,0.7>  0.182  <0.627,0.373> • updating with evidence for t=2 = <0.9,0.2><0.627,0.373> = <0.565,0.075>  <0.883,0.117>

  4. Robot Localization

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