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Autonomous Intelligent Mobile Robotics. Jerry Weinberg Associate Professor Ross Mead Robot Scientist Computer Science. What is a Robot?. What is An Intelligent Robot?.

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Autonomous Intelligent Mobile Robotics

Jerry Weinberg

Associate Professor

Ross Mead

Robot Scientist

Computer Science

What is a Robot?


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What is An Intelligent Robot?

  • An autonomous system which exists in the physical world, can sense its environment, and can act on it to achieve some goals.


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Living Autonomously

  • An autonomous robot acts on its own decisions

  • Robots are not directly controlled by humans

    • Can take input and advice from humans

  • Robots are not teleoperated

    • Making them much more difficult and interesting than Battlebots


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Autonomous Mobile Robots have to Solve Difficult Problems

  • Where am I?

    • Localization Problem

  • How do I get there?

    • Path Finding Problem

  • How do I find the door?

    • Object Recognition Problem

  • What are you asking me to do?

    • Language Understanding Problem

  • How can I tell you the answer to your question?

    • Speech Generation Problem


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Sensing the Environment

  • Sensors allow the robot to perceive its environment to get information that allows it to make decisions

    • Humans have 6 senses what are they?

    • What sensors does a robot need?


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Acting on the Environment

  • Robots have effectors that allow it to change the state of the world

    • What are human effectors?

    • What effectors can robots have?


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Achieving a Goal

  • Achieving a goal requires intelligent decision making

    • Artificial Intelligence


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LEGO Mindstorm RCX

3 Output or Motor Ports (A, B, C)

3 Input or Sensor Ports (1, 2, 3)

IR Transmitter/Receiver



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Spectrum of Self-Control

Teleoperation: Human Control

Autonomous (AI) Control

Shared Human – Robot Control

Remote-Controlled Rats



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Reactive/Behavior-Based Robot Control

  • Ignores world models

Sense

Act



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Finding Inspiration

  • Constructopedia

  • Nature

  • Web

    www.legomindstorms.com

    www.lugnet.com/robotics/rcx

    roboti.cs.siue.edu


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