Probabilistic Bases

Abstract

This is the third chapter of the first section. It is a compendium of all the concepts and theorems of probability theory that are found in the problems of Bayesian estimation of a robot location and the map of its environment. It presents uncertainty as an intrinsic feature of any mobile robot that develops in a real environment. It is then discussed how uncertainty has been treated along the history of science and how probabilistic approaches have represented such a huge success in many engineering fields, including robotics. The fundamental concepts of probability theory are discussed along with some advanced topics needed in further chapters, following a learning curve as smooth and comprehensive as possible.