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Embodied individual robot tasks

Modified 2018-07-14 by julian121266

$$ \newcommand{\AC}[1]{{\color{blue}AC: #1}} \newcommand{\JZ}[1]{{\color{olive}JZ: #1}} \newcommand{\fix}{\marginpar{FIX}} \newcommand{\new}{\marginpar{NEW}} % Robot: \newcommand{\dynamical}{\mathcal{D}} \newcommand{\robot}{\mathcal{R}} % Robot \newcommand{\config}{\mathcal{Q}} % Configuration space (of robot) \newcommand{\sensors}{\{z\}} % Sensor set \newcommand{\bandwidth}{\mathcal{B}} \newcommand{\computation}{\mathcal{C}} \newcommand{\memory}{\mathcal{M}} \newcommand{\actuators}{\mathcal{A}} \newcommand{\knowledge}{\mathcal{K}} \newcommand{\perception}{P} \newcommand{\control}{U} \newcommand{\actions}{\mathcal{U}} % Robot mathematics \newcommand{\operator}{T} % Groups: \newcommand{\groups}{G} %\newcommand{\group}{g} \newcommand{\groupalgebra}{\mathfrak{g}} % Scene space \newcommand{\timespace}{\mathbb{T}} \newcommand{\environment}{E} \newcommand{\scene}{\xi} \newcommand{\scenespace}{\Xi} \newcommand{\universe}{U} % Sensor space \newcommand{\sensor}{\zeta} \newcommand{\sensorproj}{z} \newcommand{\sensorspace}{Z} \newcommand{\projection}{\pi} \newcommand{\projectionspace}{\Pi} \newcommand{\viewport}{v} \newcommand{\viewportspace}{\mathcal{V}} % Data space \newcommand{\dataspace}{\mathcal{X}} \newcommand{\data}{x} \newcommand{\dataproj}{\phi} \newcommand{\datakernel}{\psi} % Output space \newcommand{\outputy}{y} \newcommand{\outputspace}{\mathcal{Y}} % Task space \newcommand{\task}{T} \newcommand{\taskspace}{\mathcal{T}} \newcommand{\objective}{\mathcal{J}} \newcommand{\robotictask}{RT} \newcommand{\rules}{\Phi} \newcommand{\constraints}{\Lambda} % Action space \newcommand{\action}{u} \newcommand{\actionspace}{\mathcal{U}} \newcommand{\nuisance}{\nu} % Other characteristics / symbols \newcommand{\place}{\eta} \newcommand{\image}{I} \newcommand{\noise}{n} \newcommand{\pose}{p} \newcommand{\shape}{S} \newcommand{\albedo}{\rho} % Information theory \newcommand{\information}{\mathcal{I}} \newcommand{\expectation}{\mathbb{E}} % Optimization \newcommand{\loss}{L} $$

There are three embodied individual robotic tasks.

  • Lane following (LF): Control of a Duckiebot to drive on the right lane on streets within Duckietown without other moving Duckiebots present.

  • Lane following + vehicles (LFV): Control of a Duckiebot to drive on the right lane on streets within Duckietown with other moving Duckiebots present.

  • Navigation + vehicles (NAVV): Navigation task of a Duckiebot to drive from point $A$ to point $B$ within Duckietown while following the rules of the road and while other Duckiebots are likewise driving in the road.


This section focuses on the infrastructure and background of the embodied individual robotic tasks as outlined in the task overview.

For examples of Duckiebot driving see a set of demo videos of Duckiebots driving in Duckietown.

The actual embodied tasks will be described in more detail in LF, LF, NAVV. Note that the sequence tasks was chosen to gradually increase the difficulty of tasks by extending previous task solutions to more general situations.

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