Homework 2

Due 24 September, 2014, in class. Each student should work on this assignment individually.

The purpose of this assignment is to devise a procedure for estimating the six alpha parameters needed for the velocity motion model algorithms. These parameters are defined in Equations 5.10 and 5.15 on pages 127-129. Your procedure should be fairly explicit, but doesn't need to be at the level of Java or even pseudocode (though you can use pseudocode if you prefer). You may assume all sensor readings are accurate, so you don't need material from Chapter 6. You should assume that the robot is TwoPi, but you can make remarks about how your procedure would differ if your robot had other sensors or actuators.