Intelligent Robotics An Introduction

1. Intelligent RoboticsAn Introduction The King’s Academy November 2, 2007

2. Basic Definitions • Artificial Intelligence • Study intelligence • Apply – design intelligent systems • Purpose – to better serve mankind The King's Academy

3. Basic Definitions • Robot • Embodied • Autonomous • Agent • Intelligent robot • + Intelligent The King's Academy

4. Embodied • Situated • Located in the world • Sensor (receptor) • Receive “raw” information about world • Effector (actuator) • Accomplish an action • with respect to self • with respect to world • “one who brings about a result or event; one who accomplishes a purpose” The King's Academy

5. Autonomous • Autos :: self • Nomos :: law • Definition • Self-governing • Note: The term cybernetics stems from the Greek Κυβερνήτης (kybernetes, steersman, governor, pilot, or rudder — the same root as government). • Independent in mind or judgment • Self-directing • Not controlled by others or outside forces The King's Academy

6. Agent • Definition • One that acts or has power/authority to act • One that represents another • Root meaning – one that acts or exerts power • Means of effecting a result • Software agent (David Croft) • Delegacy – discretionary authority • Competence • Amenability – ability to adapt • Software resident The King's Academy

7. Intelligence • Many definitions • MSN Encarta: “general mental capability to reason, solve problems, think abstractly, learn and understand new material, and profit from past experience. Intelligence can be measured by many different kinds of tasks . . . Intelligence draws on a variety of mental processes, including memory, learning, perception, decision-making, thinking, and reasoning.” • Einstein: “Imagination is more important than knowledge.” • Henk Tuten: “complex use of creativity” The King's Academy

8. Intelligence • Another view • Creative simplicity • Examples • Every mileage divisible by 3000 • Cutting the Gordian knot • Efficient use of cars The King's Academy

9. Robot “Primitives” – Murphy • Sense • Plan • Act • 4th – Learn The King's Academy

10. Origin of Robot Basics • Serve  Act • Autonomous  Sense The King's Academy

11. Origin of Robot Basics • The most basic :: • Act • Sense The King's Academy

12. Origin of Robot Basics • Serve  Act • Autonomous  Sense • Changing environment  Plan • Plan  Reason • Plan  Represent knowledge • Knowledge  Learning The King's Academy

13. Robot Basics • Sense • Act • Represent knowledge • Reason • Learn The King's Academy

14. Robot Action Paradigms • Deliberative • Reactive • Hybrid – deliberative/reactive The King's Academy

15. Deliberative Paradigm • Emphasis – knowledge representation • Detailed plan generation • Computationally expensive • Example • Shakey • Stanford Research Institute • Frame problem The King's Academy

16. Reactive Paradigm • Emphasis – sense/act coupling • Knowledge resides in world • Simple animal intelligence • Insects • Frog • Example • Roomba • Rodney Brooks • iRobot • Limited operability The King's Academy

17. Hybrid Paradigm • Emphasis – behavior set • Knowledge base & reasoning • Action triggers • Example • Minerva • Sebastian Thrun • CMU & U/Bonn • Limits unknown The King's Academy

18. Unexplored Possibilities • Assistive robotics • Physical therapy • Occupational therapy • Swarm Intelligence • Autonomous vehicles • Example • Little Ben • Lehigh, Penn, Lockheed • DARPA Grand Challenge The King's Academy

19. 1000 Mile Journey • Single steps • Mathematics • Computer science • Not a hoof left behind • Faithful servant • Share Master’s joy • Heads or Tails • You shall be the head and not the tail The King's Academy