16-735 Project Description

1
16-735 Project Description

• Name Juan Fasola
• Robot Sony AIBO
• Project Description
• I plan to create a real-time localization system
  that estimates the robots position and
  orientation as it walks around a 4m x 6m soccer
  field. There will be unique landmarks (four or
  six) on the sides of the field to aid the
  localization process.

Juan Fasola
Sony AIBO
2
16-735 Project Description

• I am interested in implementing a Bayesian filter
  technique as opposed to a Kalman filter, because
  the Bayesian filter better handles the kidnapped
  robot problem (so Ive read), which occurs
  frequently during gameplay and when debugging in
  the robot soccer domain.
• I plan to demo the project by showing the robot
  moving around on the field and simultaneously
  showing the robots localization estimates on a
  gui on a laptop.

GUI showing robot localization estimate