## 5 Deep Learning for Navigation  
### History of AI  
AI technology has been interesting and attractive since its inception. For decades it has been one of the major technologies for robots. In this section, we briefly describe its development history, especially \begin{table}
\begin{tabular}{c c} \hline \hline
**The Used Methods** & **The Tracking Covariance _Cov_** \\ \hline EKF & 148.06 \\ UKF & 120.75 \\ CKF & 123.45 \\ PF & 122.29 \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Comparison on tracking covariance of EKF, UKF, CKF and PF with adaptive model. \begin{table}
\begin{tabular}{c c} \hline \hline
**The Used Models** & **The Tracking Covariance _Cov_** \\ \hline CV & 350.08 \\ CA & 290.76 \\ Singer model & 210.40 \\ current model & 178.98 \\ IMM algorithm model & 123.02 \\ the adaptive model & 120.75 \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Comparison on tracking covariance of different models with UKF estimation method. the technology that is closely related to the development of robot movement. From the development of these technologies, we will find that we are moving toward advanced mobile intelligence and getting closer and closer. In 1956, the famous Dartmouth Conference proposed the assertion: \"every aspect of learning or any other feature of intelligence can be so precisely described that a machine can be made to simulate it\" [96]. Therefore, this conference was well acknowledged as the birth of AI. During the past 60 years, AI has experienced several different stages that divided based on their specific developmental features, as shown in Figure 8. In addition, because of certain criticisms and limitations, AI also encountered two winter periods. However, within all these years, researchers never stopped their works in related techniques, and breakthrough of various applications were also accompanied. The first stage named as Inference Period (1956-1974) was considered as a golden period for AI development. The most important task in this period was to make the computers capable of logical inference. With the emerging intelligent techniques, people were experiencing various 'unbelievable' changes. For example, robot was able to both look and behave like human, or machine could learn to speak and communicate with people [97]. At that time, researchers all optimistically thought that AI could be easily achieved by logical inference. They even predicted that a fully intelligent machine would be built within the following 20 years. As a result, government agencies such as British government and United States National Research Council did invest large amount of money into this potential field. With the great financial aid, certain achievements were indeed obtained, such as the presentation of perceptron [98], which laid a significant foundation for AI. However, AI failed to keep its development in 1970s. The optimism and confidence of AI researchers had raised extremely high expectations, and made them neglect the practical difficulties they faced, such as the limited computer power, intractability and combinatorial explosion, as well as the frame and qualification problems. Consequently, the financial support was eventually cut off  
Figure 8: Development history of artificial intelligence (AI). for undirected research into AI. By 1974, almost no funding for AI projects was able to find. The first winter in AI development formally started. When it came into the 1980s, knowledge engineering became the keyword of AI research, so we call the second stage as Knowledge Period (1980-1987). The significant development of technology in this period must be the combination of the multiple layer perceptron and back-propagation method. It needs to be pointed out that, in this period, the emphasis of AI research was changed from laboratory research to practical applications. A representative implementation of AI as expert systems was adopted by corporations around the world.