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Artificial Intelligence and Mobile Robots: Successes and Challenges David Kortenkamp NASA Johnson Space Center Metrica Inc./TRACLabs Houton TX 77058 [email protected] http://www.traclabs.com/~korten Outline • Where we’ve been – Previous mobile robot competitions – Contributions to the state-of-the-art • Where we are – Status checklist – Challenges to the AI community • Where we are going – 2000 Mobile Robot Competition and Exhibition The First AAAI Mobile Robot Competition (San Jose CA 1992) • Large arena with fixed obstacles • Robot needed to find and visit 10 poles • Teams could mark poles in any way they wanted • Contributions – Sonar-based obstacle avoidance • Assessment – Robots could move w/o hitting things – Robots could find large, marked objects Second AAAI Mobile Robot Competition (DC, 1993) • Office-like environment • Robots modifying environment • Contributions – Three-layer architecture (Erann Gat, JPL) • Assessment – Office navigation still unsolved – Start of real-world tasks Third AAAI Mobile Robot Competition (Seattle, 1994) • Office building environment is continued • Mobile manipulation is introduced • Contributions – Successful multi-robot strategy (Georgia Tech) – Probabilistic office navigation (Stanford) • Assessment – Office navigation more robust – Distributed multi-robots are fast Fourth AAAI Mobile Robot Competition (Montreal, 1995) • Office navigation is extended with human interaction • Mobile manipulation with ability to distinguish objects (trash vs. recycle) • Contributions – Color vision – Wheelchair applications • Assessment – Non-trivial vision becomes possible Fifth AAAI Mobile Robot Competition (Portland, 1996) • • • • Office navigation with occupancy detection Mobile manipulation of moving objects Alan Alda! Contributions – Fast color vision – POMDP navigation techniques • Assessment – Office navigation is solved Sixth AAAI Mobile Robot Competition (Providence, 1997) • Real-world tasks (vacuuming, search) • Direct interaction with AAAI attendees (serving hors d’oeuvres) • Contributions – Multi-media interfaces – Entertaining robots • Assessment – Human-robot interaction still young Seventh AAAI Mobile Robot Competition (Madison WI, 1998) • • • • Robots move out of the arena Hors d’oeuvres is continued Sony robot “dogs” make appearance Contributions – AAAI Best Paper to Thrun et al for museum tour robot based on software displayed in previous competitions • Assessment – Human-robot interaction making progress Eighth AAAI Mobile Robot Competition (Orlando, 1999) • No arena at all, robots roam through conference hall on scavenger hunts • Hors d’oeuvres competition a big hit • Contributions – Introduced a “challenge” competition • Assessment – Continued improvement in hors d’oeuvres serving Y2K: Where are we? • What is the current state-of-the-art? • What are the remaining challenges? CMU and NASA take the Nomad mobile robot to Antarctica in January 2000 to search for meteorites Mapping and Navigation • State-of-the-art üObstacle avoidance üOffice building navigation üPublic navigation (with assistance) üMap construction (including 3D) using sonar and laser • Challenges •Outdoor navigation (even with GPS) •Vision-based navigation Robot Vision • State-of-the-art üColor vision for object recognition üObstacle avoidance and cliff detection üAutonomous highway driving üActive stereo vision for tracking • Challenges •Object segmentation •Robust landmark discovery and recognition Mobile Manipulation • State-of-the-art üStand-alone manipulators on mobile bases üUncoordinated base and arm motion • Challenges •Coordinated base and arm motion •Multi-arm robots •Eye-hand coordination Human-Robot Interaction • State-of-the-art üSimple tracking and gesture recognition üFace recognition under ideal circumstances üCOTS voice recognition • Challenges •Discourse management tied to task context •Learning from humans •Adjustable autonomy Control Architectures • State-of-the-art üLayered architectures to integrate reactive and deliberative components üRobust execution of procedures • Challenges •Architectures with learning “built-in” •Sharing components (“plug and play”) •Adjustable autonomy •Validation and verification Multiple Robots • State-of-the-art üHomogeneous robots üDivide-and-conquer tasks • Challenges •Architectures for coordination of autonomous, heterogeneous robots •“On-the-fly” teaming of robots •Distributed sensing •Tasks that require multiple robots Challenges to the AI Community • Planning – Planners that can “take advantage” of underlying robust execution systems – Mixed-initiative planning with robots • Learning – Fast, on-line learners that handle uncertainty – Improving off-line models from data • Natural Language – Discourse tied to task contexts and agent actions Challenges (continued) • Knowledge Representation – Representing perceptual information – Moving knowledge between continuous and discrete (or symbolic) representations • Applications – Apply known mobile robot results to other domains that have similar characteristics, I.e., “immobots” (Williams & Nayak 1996) – Use mobile robots! The 2000 AAAI Mobile Robot Contest and Exhibition • Goals – Foster the sharing of research ideas and technology – Allow research groups to showcase their achievements – Encourage students to enter the fields of robots and AI – Increase awareness of the field • Alan Schultz, Chair Events • Contest – Urban Search and Rescue – Hors d’oeuvres – Lisa Meeden, Event Chair • Challenge – Tucker Balch, Event Chair • Exhibition – Marc Bohlen and Vandi Verma, Event Chairs • Plus, Botball and Robot Building Lab Urban Search and Rescue • Robots must enter fallen structure and search for victims • Robots judged on – Number of victims found – Relaying location of victims and hazards – Communicating with victims – Innovative technology • No teleoperation Hors d’oeuvres • Robots serve hors d’oeuvres to conference attendees at the reception • Robots judged subjectively by a panel for: – – – – Ability to serve food Interaction with attendees Manipulation Sensing modes Challenge • Robot must register and attend AAAI with no a priori information • Judges will look for technical innovation • Components include: – Start at front door – Navigate to registration (look at signs or ask directions) – Register (stand in line, say name) – Attend talk • Task pushes state-of-the-art Exhibition • Demonstrations of robot technology that does not fit within the contests • Scheduled demonstration times • Exhibition themes include: – – – – – – Learning by imitation (USC) Learning by observation (Georgia Tech) Multi-robot negotiation Interaction with humans Intelligent wheelchairs (U Texas) Enabling technologies Botball • High school robotics building and programming competition – Over 150 teams participated • Finals held at AAAI-2000 – 46 high school teams competing – August 1 and 2 (finals at 3:00) • Organized by David Miller of the KISS Institute for Practical Robotics and the University of Oklahoma Sponsors • • • • DARPA Office of Naval Research Naval Research Laboratory AAAI