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In this chapter the mazes were vertical and horizontal lines or tight corridors; this simpli ed the techniques for controlling the robot s movement. We concentrated more on the strategies for negotiating the maze. What if the lines were not straight north/ south-east/west lines What if the corridors were wide enough that the robot could not see all the exits at once with its infrared sensors What if the forks in the lines were not 90 turns, rather more or less, so instead of T(or ) junctions we have Y junctions, or N junctions, and so on These are problems that must be solved in many real-world situations. In the next chapter we will devise techniques for negotiating a home or of ce environment. You can think of these environments as corridor mazes, but the corridors are too wide and the robot has to avoid obstacles and nd the doorways. The techniques of this chapter have applications in many situations other than maze solving. The world is a maze. We humans are so adept at negotiating mazes that we don t even know when we are doing it. It is very satisfying to gain insight into our own thought processes. Trying to program a robot to do what we take for granted gives us an introspective view into our intelligence. The mapping and path-searching techniques we have introduced here are applicable to many situations with real-world signi cance such as: Airline scheduling Delivery truck routing Process management Communications networks GPS systems Cartography Arti cial intelligence (AI) Database systems As you can see, robotics is a very useful as well as entertaining pursuit.

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14.6 Summary

In addition to these thermal noise sources, intermodulation distortion in high-power amplifiers (see Sec. 12.7.3) can result in signal products which appear as noise and in fact is referred to as intermodulation noise. This is discussed in Sec. 12.10.

lim f (x) = 1

Antennas operating in the receiving mode introduce noise into the satellite circuit. Noise therefore will be introduced by the satellite receive antenna and the ground station receive antenna. Although the physical

In this chapter you have: Learned how to randomly generate line and corridor mazes. Explored various strategies for solving a maze. Seen how directed randomness can improve a totally random behavior. Seen how arrays can be used to store a history of actions, enabling the robot to learn from its past attempts. Learned to use arrays to generate a map for the robot to consult before trying to solve the maze.

origins of the noise in either case are similar, the magnitudes of the effects differ significantly. The antenna noise can be broadly classified into two groups: noise originating from antenna losses and sky noise. Sky noise is a term used to describe the microwave radiation which is present throughout the universe and which appears to originate from matter in any form at finite temperatures. Such radiation in fact covers a wider spectrum than just the microwave spectrum. The equivalent noise temperature of the sky, as seen by an earth-station antenna, is shown in Fig. 12.2. The lower graph is for the antenna pointing directly overhead, while the upper graph is for the antenna pointing just above the horizon. The increased noise in the latter case results from the thermal radiation of the earth, and this in fact sets a lower limit of about 5 at C band and 10 at Ku band on the elevation angle which may be used with ground-based antennas. The graphs show that at the low-frequency end of the spectrum, the noise decreases with increasing frequency. Where the antenna is zenithpointing, the noise temperature falls to about 3 K at frequencies between

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