Artificial Intelligence for Robotics

Chapter 8, Putting Things Away

1. From the beginning to the end (start to goal); from goal to start; and from both ends at once and meeting in the middle.
2. By eliminating the effect of the item on the branch. For example, using our "robot does not move" fault, if the branch says, "Arduino- no power", if you check to see if the Arduino has power, and it does, you can prune that branch. If the branch is “Motor stuck”, the effect of having a motor stuck is that the robot will drive in circles. As the robot is not driving in circles – it’s not driving at all – you can prune that branch.
3. It determines the amount of “impurity” in the sample or pool. When the Gini impurity = 0, all of the members of the class have the same attributes, and no further ...