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Robotics “In which agents are endowed with physical effectors with which to do mischief” 1

Robotics “In which agents are endowed with physical effectors with which to do mischief” 1. 1 Russell and Norvig, Artificial Intelligence A Modern Approach, 2003, 901. Why Study Robotics?. Industrial Robots. Why Study Robotics?. Service Robots. Why Study Robotics?. Exploration.

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Robotics “In which agents are endowed with physical effectors with which to do mischief” 1

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  1. Robotics“In which agents are endowed with physical effectors with which to do mischief”1 1Russell and Norvig, Artificial Intelligence A Modern Approach, 2003, 901. Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  2. Why Study Robotics? • Industrial Robots Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  3. Why Study Robotics? • Service Robots Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  4. Why Study Robotics? • Exploration Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  5. Why Study Robotics? • Consumer Robots Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  6. Why Study Robotics? • Embedded Systems Programming • Cars, microwave ovens, mobile phones • Integrated Systems Engineering • Mechanical Engineering • Electrical Engineering • Computer Science Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  7. Why Study Robotics? • Multitasking Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  8. Why Study Robotics? • Its Fun! Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  9. What is An Intelligent Robot? • A machine able to extract information from its environment and use knowledge about its world to move safely in a meaningful manner Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  10. People Robots Bones Mechanical Structure Muscles Effectors Senses Sensors Digestion/Respiration AC/DC Power Brain Computer Knowledge Program Humans vs. Robots Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  11. Robots vs. Softbots • A softbot is a pure software agent whose environment consists of computer file systems, databases, and networks • Microsoft Office Helper, Game Agents, Web Crawlers, Expert Systems • Robot is an active, artificial agent whose environment is the physical world Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  12. The Real World is A Harsh Place • Inaccessible • nearby stimuli, limited attention, imperfect sensors • Non-deterministic • Robot structure and dynamics, environment • Dynamic • Changes happening as decisions are made • Continuous • The world is not a set of discrete events Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  13. Dealing with the Physical World A robot needs to be able to handle its environment or the environment must be altered and controlled. • Closed World Assumption • The robot knows everything relevant • no surprises • Reasonable only in very restricted domains • Open World Assumption • The robot must be able to handle unexpected events. • The usual state of affairs Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  14. What does it take to get an intelligent robot to do a simple task? Robot Parts: Two Arms, Vision, and Brain The Brain can communicate with all parts Arms can take commands as left, right, up, down, forward, and backward Arms can answer yes/no about whether they are touching something but cannot distinguish what they are touching The vision system can answer any question the brain asks, but cannot volunteer information. The vision system can move around to get a better view. Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  15. Why is this simple task so difficult? • Coordination is difficult • Indirect feedback • Updating world knowledge • Unexpected events • Need to re-plan • Different coordinate systems need to be resolved • Box-centered and arm-centered Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  16. Robot Control • Two general approaches to controlling robot behavior: • Deliberative: reason about world, plan behaviors, act • Human example: vacuum a room. • Reactive: sense world, take action • Human example: pull hand away from a hot surface • Hybrid approaches: combine both • Human example: ride a bike Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  17. Deliberative/Hierarchical Robot Control • Classic Robot Control, emphasizes planning • Basic paradigm is Sense -- Plan --Act • World knowledge must be represented in a form that the robot can reason about. Robot senses the world, constructs a model representation of the world, “shuts its eyes”, creates a plan of action, makes the action, then senses the results of the action. Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  18. Deliberative: Good & Bad • Goal Oriented • Solve problems that need cognitive abilities • Ability to optimize solution • Predictable • Dependence on a world model • Requires a closed world assumption • Symbol Grounding Problem • Frame Problem • Qualification Problem Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  19. Reactive/Behavior-Based Paradigm • Rodney Brooks 1987 • Ignores world models • “The world is its own best model” • Sense -- act • Reactive Paradigm tightly couples perceptions to actions • No intervening abstract representations or time history • Individual Behaviors are used as building blocks Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  20. Where does the overall robot behavior come from? • No overall goal, no planning • Emergent Behavior • Emergence is the appearance of a novel property of a whole system that cannot be explained by examining the individual components, for example the wetness of water. • Overall behavior is a result of robots interaction with its surroundings and the coordination between the individual behaviors. Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  21. Reactive: Good & Bad • Works with the Open World Assumption • Provides a timely response in a dynamic environment where the environment is difficult to characterize and contains a lot of uncertainty. • Unpredictable • Low level intelligence • Cannot manage tasks that require memory and higher level cognition • Tasks requiring localization and order dependent steps Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  22. Hybrid: Planning – Reactive Interaction • Reactive in primary control and Planner provides advice • Planner configures the Reactive system • Planner is primary and Reactive provides actions to avoid uncertain situations • Layered approach • Requires re-planning • Planner and Reactive work concurrently Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  23. Spectrum of Robot Control Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  24. Where are we with robotics? AAAI robot competitions Robot Rescue Robot Host Robot Challenge Grace Lots of autonomous commercial applications Some fairly impressive research Beginning to see consumer applications Barely at the beginning of applications which involve interacting with humans Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

  25. TODAY! Webcast: Artificial Intelligence for Autonomous Control in Space. Thurs, April 15, “PST”http://www.jpl.nasa.gov/events/lectures/apr04.cfm NASA Mars Rovers Status 24 Mar 2004 A balloon-shaped robot explorer during a 70-kilometer wind-driven trek across Antarctica. DARPA Desert race too tough for robots Derived from slides by Jerry Weinberg: http://www.cs.siue.edu/classes/Fall%202002/CS/CS490-CIS588/Weinberg/Lectures/

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