Probabilistic

Robotics
Why probability in robotics?
Because a robot that carries a notion of its own uncertainty
and acts accordingly is superior to that does not.

Common uncertainties
Environment
Sensors
Actuators
System Models
Computation

Basic Concepts In Probability

In robotics sensor measurements, control commands, states are
modelled as random variables.
Let X denote a R.V then x denote a specific event that X might
take on.
p(X=x) abbreviated as p(x) means the probability of occurring an
event x in the name of R.V X.
Known as a Probability Distribution Function(PDF).(Discrete
and Continuous)
For discrete probabilities

For continuous probabilities

 Joint distribution of 2 R.V X & Y

If X and Y are independent

Conditional probability

Meaning the probability of happening x when it is given that y has

already happened.

 If X and Y are independent

Theorem of Total Probability

Bayers rule

 P(y) doesnt depend on x

Hence

Expectation of a R.V(commonly known as mean)

Expectation of a R.V is a linear function.

Covariance of X(Expected deviation from mean)