Page 417 - Introduction to AI Robotics

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1. Identify the element to be 11 Localization and Map Making
0 2 3 0 2 3
updated as occupied. Apply I=+3
3 0 7 3 0 7
15 9 1 15 9 1
0 2 3 0 2 3
3 0 7 3 0 7
15 9 1 15 9 1

0.5 0.5 0.5
0.5 1.0 0.5
2. Apply the mask & compute:
0.5 0.5 0.5
(0.5x0)+(0.5x2)+(0.5x3)+
(0.5x3)+(1.0x3)+(0.5x7)+
0 2 3 0 2 3
(0.5x15)+(0.5x9)+(0.5x1)=23
3 3 7 3 0 7
The value has a ceiling of 15:
15 9 1 15 9 1
minimum(15, 23) = 15
0 2 3 0 2 3
3 0 7 3 0 7
15 9 1 15 9 1

3. Replace the element with the new value 0 2 3 0 2 3
3 15 7 3 0 7
15 9 1 15 9 1
0 2 3 0 2 3
3 0 7 3 0 7
15 9 1 15 9 1

Figure 11.12 The GRO mechanism. Only the effects of incrementing an occupied
element are shown.