Technical coordinating unit on robot planning
Download
1 / 18

Malik Ghallab - PowerPoint PPT Presentation


  • 376 Views
  • Uploaded on

Technical Coordinating Unit on Robot Planning TCU Participants Aegean University, Vangelis Kourakos Brescia University, A.Gerevini Freiburg University, B.Nebel Genova University, E. Giunchiglia GMD, J.Hertzberg IRST, P.Traverso LAAS, M.Ghallab Linköping University, P.Doherty

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about 'Malik Ghallab' - oshin


An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript

Tcu participants l.jpg
TCU Participants

  • Aegean University, Vangelis Kourakos

  • Brescia University, A.Gerevini

  • Freiburg University, B.Nebel

  • Genova University, E. Giunchiglia

  • GMD, J.Hertzberg

  • IRST, P.Traverso

  • LAAS, M.Ghallab

  • Linköping University, P.Doherty

  • Lund University, J. Malec

  • Madrid Carlos III University, D.Borrajo

  • Munich University, M.Beetz

  • NCSR Demokritos, C. Spyropoulos,

  • ONERA, P.Fabiani

  • Orebro University, A.Saffiotti

  • Rovira i Virgili University, M.A. Garcia

  • Siemens Corp. Techno., W.Feiten

  • Ulm University, S. Biundo, B.Schattenberg

Robot Planning TCU


Roadmap l.jpg
Roadmap

  • Problems and challenges in Robot Planning

  • State of the art

  • Technology maturity

  • What needs to be done

  • Research at TCU Nodes

Robot Planning TCU


Robot planning l.jpg
Robot planning

A computational activity that relies on:

  • Models of environment and robot

  • Specification of required goals and utilities

  • Online input from sensors and communication channels

    to perform prediction and choices for achieving goals and utilities

  • Robotics without planning: handcoded environment structure, strategy and goals into purely reactive control

  • Specifics of planning in robotics:

    • heterogeneous partial models and state information,

    • direct integration of planning to acting and sensing

  • Robot Planning TCU


    Purpose of planning in robotics l.jpg
    Purpose of planning in robotics

    Improve the performance of robots for carrying out

    • a set of tasks in

    • a class of environments

      Performance criteria:

  • Robustness of the behavior of robots with respect to:

    • Variety of environments

    • Diversity of tasks

  • Quality and cost of:

    • Environment modeling

    • Modification and verification of robot controllers

    • Interaction with and among robots

  • Robot Planning TCU


    Forms and components of robot planning l.jpg
    Forms and components of robot planning

    • Path and motion planning:

      Geometric path and control trajectory along that path

    • Perception planning:

      • Which information is needed, and when

      • Where to look for it

      • Which sensors are most adequate, and how to use them

    • Navigation planning:

      Strategy using localization primitives, visual servoing and other sensory-controlled motion primitives, for reaching a goal, exploring an area

    Robot Planning TCU


    Slide7 l.jpg

    Forms and components of robot planning

    • Manipulation planning:

      Similar strategy of sensory-motor primitives using forces and touch (haptics), vision, etc, to handle objects and assemblies

    • Task planning:

      Classical set of state-transition operators, with

      Time and resource allocation, dynamic environment, uncertainty

    • Communication planning:

      In multi-robots cooperation, Man-machine interaction

      How to query needed information, which feedback is required

    Robot Planning TCU


    Slide8 l.jpg

    Forms and components of robot planning

    PLANET is not active in all these areas

    Robot Planning TCU has to be aware of them and their common features:

    • Uncertainty

    • On-line constraints

    • Dynamic environments and feedback loops

    • Multi-agency

      Robot Planning TCU has to build on top of them

    Robot Planning TCU


    Challenges and requirements l.jpg
    Challenges and requirements

    Integration of sensory-motor capabilities

    with deliberative, goal-oriented capabilities

    • Integrate planning to acting

    • Integrate heterogeneous representations:

      • Space, time, kinematics and dynamics, physics of sensors, uncertainty, logical properties, various constraints, including computational

    • Integrate various forms of planning

    • Integrate planning and learning

      to extend sensory-motor controllers

    Robot Planning TCU


    State of the art l.jpg
    State of the art

    Available material

    • Good surveys and reference works in the literature on basic robot planning components, e.g.

      • Path and motion planning

      • Task planning

    • Roadmap surveys current work on

      • Integration of planning, acting and sensing (Ulm Univ.)

      • Uncertainty in robot planning (ONERA)

      • Integration of planning and learning (Madrid)

    Robot Planning TCU


    Maturity l.jpg
    Maturity

    Mainly of planning components :

    • Path and motion planning : a well mature technology

      Techniques: computationnal geometry and probabilistic algorithms

    Robot Planning TCU


    Maturity12 l.jpg
    Maturity

    • Task planning : a wealth of algorithms in the classical framework

      Techniques: search, heuristics, disjunctive refinement, CSPs

    • Perception planning: some focused problems well solved, e.g. viewpoint selection

      Techniques: mathematical programming

    • High level reactive controllers: preprogrammed goal-directed behaviors

      • PRS, Propice, RAP, SRCs and similar systems well advanced and integrated to sensory-motoric level

      • Most laboratory robots run on them

    Robot Planning TCU


    Possible technology transfer l.jpg
    Possible technology transfer

    • Within robotics

      There are other limiting factors for industrial deployment, e.g. sensory-motoric functions, reliability, security and cost

      • Reactive controllers: the easy first step

      • Special purpose navigation and perception planning capabilities

    • In other domains

      • Path and motion planning: in CAD, Animation and Graphics

      • Tasks planning with time and resources: in manufacturing, process planning, workflow management, network management

      • Reactive controllers: in transportation systems

      • Integrated planning systems in well structured domains: autonomous spacecraft

      • Perception planning in surveillance systems

    Robot Planning TCU


    What needs to be done l.jpg
    What needs to be done

    • Research on integration problems

      • Planning and acting

        • Reaction / deliberation architecture

        • Planning depth and on-line constraints

        • Execution models

        • Fault detection, diagnosis, recovery

      • Heterogeneous representation

      • Heterogeneous planning techniques

      • Planning with information gathering and sensing

        • Access to world state

        • Planning (with) action sensing

      • Planning and learning

    Robot Planning TCU


    Typical projects l.jpg
    Typical projects

    • Cooperating service robots

      Transportation, surveillance, cleaning, search and gathering of object, e.g., office assistants

    • Surveillance and monitoring of the traffic network

    • Exploration robots, environment monitoring: the Baltic watch project

    Robot Planning TCU


    Tcu activities l.jpg
    TCU activities

    ECAI Workshop August 2000

    Perception Planning

    • Talks

      • Perception planning for surveillance, tracking or cooperationP.Fabiani

      • Perception planning for autonomous service robotsM.Beetz, J.Schumacher

      • The WITAS project, anchoring and perception planningP.Doherty

    • Discussion on representations and reasoning required for sensor models, environments, sensing tasks

    Robot Planning TCU


    Tcu activities17 l.jpg
    TCU Activities

    Dagstuhl seminar, October 2001

    Plan-based Control of Robotics Agents

    • Topics:

      • perception in plan-based control

      • plan notations, plan execution, and monitoring

      • execution-time plan management

      • formal models of plan-based control

      • plan-based control and learning

      • challenge problems and benchmarks

    • Participants: 50, from Europe, USA, Australia

    • Planned outcome: Book LNAI, Springer

    Robot Planning TCU


    Tcu activities18 l.jpg
    TCU Activities

    Workshops during 2002

    • At AIPS'02

      • 3rd Cognitive Robotics Workshop

      • Other workshops ? (submission deadline: September 21st)

    • At ECAI'02

    Robot Planning TCU


    ad