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EE788: Robot Cognition and Planning Fall, 2009 Jong-Hwan Kim, Professor Robot Intelligence Technology Lab. EE, KAIST http://rit.kaist.ac.kr 1 Course Overview • Is a survey course, not a programming class, though programming is required • Focuses on paradigms and general AI software architectures for expressing those paradigms • Existing AI algorithms or best-practices for specific functionality • By end of course should understand: – How DARPA Grand Challenge leader Team Red works and why no one won – How the Mars Exploratory Rovers and Global Hawk work – How a Roomba works – How a Sony Aibo works Slides for this course are from Professor Robin Murphy, author of the textbook, Introduction to AI Robotics, the MIT press. Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 2 1 What are Robots? • Objectives – Define Intelligent Robot Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary – Be able to list the four modalities of autonomous (unmanned) vehicles and the five components common to all autonomous systems – Be able to describe at least two differences between AI and Engineering approaches to robotics – Define and describe the difference between automation and autonomy – List the seven areas of Artificial Intelligence – List the three primitives of robot paradigms and express the three paradigms of robotics in terms of these primitives Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 3 1 Intelligent Robot • Mechanical creature which can function autonomously Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary – Mechanical = built, constructed – Creature = think of it as an entity with its own motivation, decision making processes – Function autonomously = can sense, act, maybe even reason; doesn’t just do the same thing over and over like automation Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 4 1 Why Robots? Dirty, Dangerous, Dull Tasks • JV2010, TRADOC, JFCOM, all branches even down to the organic level Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary – Reconnaissance, MOUT, denial of area, consequence management, logistics, demining REPLACE WITH ROOMBA www.roomba.com Replace Humans with Robots Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 5 1 Why Robots? Better Than Bio • Robots at WTC… Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary – voids smaller than person could enter – voids on fire or oxygen depleted Void:1’x2.5’x60’ • NBC Response – Lose ½ cognitive attention with each level of protection • Level A=12.5% of normal ability Do Things that Living Things Can’t Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition Void on fire 6 1 4 Major Robot Modalities • Unmanned Ground Vehicles – since 1967 Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary • Unmanned Aerial Vehicles – drones since Vietnam: Global Hawk, UCAV • Unmanned Underwater Vehicles or Autonomous Underwater Vehicles – ROVs since 1960s • Unmanned Surface Vehicles Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 7 1 All Have 5 Common Components • Mobility: legs, arms, neck, wrists – Platform, also called “effectors” Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary • Perception: eyes, ears, nose, smell, touch – Sensors and sensing • Control: central nervous system – Inner loop and outer loop; layers of the brain • Power: food and digestive system • Communications: voice, gestures, hearing – How does it communicate (I/O, wireless, expressions) – What does it say? Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 8 1 Unmanned Ground Vehicles • Three categories: Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary – Mobile – Humanoid/animal – Motes • Famous examples – – – – – DARPA Grand Challenge NASA MER Roomba Honda P3, Sony Asimo Sony Aibo Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 9 1 Taxonomy of Mobile Robots Ground Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary Humanoid, Animals Man-packable Mobile Man-portable Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition Motes Maxi 10 1 Unmanned Aerial Vehicles • Three categories: Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary – Fixed wing – VTOL – Micro aerial vehicle (MAV), which can be either fixed wing or VTOL • Famous examples – Global Hawk – Predator – UCAV Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 11 1 Autonomous Underwater Vehicles • Categories Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary – Remotely operated vehicles (ROVs), which are tethered – Autonomous underwater vehicles, which are free swimming • Examples – Persephone – Jason (Titanic) – Hugin Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 12 1 Unmanned Surface Vehicles • Categories Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary – Air-breathing submersible – Jet-ski based – Rigid Inflatable Boat based • Examples – USV-S – OWL Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 13 1 Why UVs Need AI • Sensor interpretation – Bush or Big Rock?, Symbol-ground problem, Terrain interpretation Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary • Situation awareness/ Big Picture • Human-robot interaction • “Open world” and multiple fault diagnosis and recovery • Localization in sparse areas when GPS goes out • Handling uncertainty • Manipulators • Learning Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 14 1 7 Major Areas of AI 1. Knowledge representation • Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary how should the robot represent itself, its task, and the world 2. Understanding natural language 3. Learning 4. Planning and problem solving • Mission, task, path planning 5. Inference • Generating an answer when there isn’t complete information 6. Search • Finding answers in a knowledge base, finding objects in the world 7. Vision Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 15 Intelligence and the CNS “Upper brain” or cortex Reasoning over information about goals “Middle brain” Converting sensor data into information Spinal Cord and “lower brain” Skills and responses 1 Engineering Approach • Comes out of manipulator, control-theoretic tradition Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary • Focus on platform, inner loop control laws – Nerves, spinal cord, proprioceptive feedback – Accurate model of physics of the situation – How to perform an action versus why to do it • Examples – Robot arms, factory automation – Auto-pilot, drones – Humanoid robots Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 17 1 Industrial Robots • Industrial robots (manipulators) aren’t physically situated agents Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary – high repetition in a world where everything is fixtured to be in the right place at the right time – focus on control theory, joint movement to get fastest, repeatable trajectory – only recently begun adding sensors to reduce need for fixturing • fixed lighting • many cases cheaper just to shake the parts and sort them into the right position for a standard manipulator Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 18 1 Engineering Approach Industrial Manipulators Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary • “Tommy” type of robots: deaf, dumb, and blind • High precision, fast repetition • Usually no sensing of the environment – Welding can be off by an inch… • AUTOMATION Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 19 1 Automation? Autonomy? • Automation Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary – Execution of precise, repetitious actions or sequence in controlled or well-understood environment – Pre-programmed – Fly-by-wire is a type of automation • Detailed models of physics and environment Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 20 1 AI Focuses on Autonomy • Automation Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary – Execution of precise, repetitious actions or sequence in controlled or well-understood environment – Pre-programmed • Autonomy – Generation and execution of actions to meet a goal or carry out a mission, execution may be confounded by the occurrence of unmodeled events or environments, requiring the system to dynamically adapt and replan. – Adaptive Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 21 1 So How Does Autonomy Work? • In two layers Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary – Reactive – Deliberative • 3 paradigms which specify what goes in what layer – Paradigm: a philosophy or set of assumptions and/or techniques which characterize an approach to a class of problems. – Three paradigms for organizing intelligence in robots: Hierarchical, reactive, hybrid deliberative/reactive. – Paradigms are based on 3 robot primitives: sense, plan, act Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 22 1 AI Primitives within an Agent SENSE Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary PLAN ACT LEARN Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 23 1 Hierarchical (1967) SENSE PLAN ACT Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary 1 2 3 Control people hated because didn’t “close the loop” AI people hated because monolithic Users hated because very slow Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 24 Reactive aka Behavioral (1986) SENSE ACT PLAN SENSE ACT SENSE ACT SENSE-ACT couplings are “behaviors” Behaviors are independent, run in parallel 1 Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary Reactive SENSE ACT SENSE ACT SENSE ACT PLAN Users loved it because it worked AI people loved it, but wanted to put PLAN back in Control people hated it because couldn’t rigorously prove it worked Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 26 1 Hybrid Deliberative/Reactive (1990) • The robot first plans how to best decompose a task into subtasks and then what are the suitable behaviors to accomplish each subtask • Sensor data gets routed to each behavior and also the planner Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary PLAN SENSE SENSE SENSE ACT ACT ACT Plan, then sense-act until task is complete or need to change; Note movement towards event-driven planning rather than continuous Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 27 1 Hybrid PLAN Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary SENSE SENSE SENSE ACT ACT ACT Control people hated it because of AI, but are getting over it AI people loved it Users loved it Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 28 1 Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary sense How AI Relates to Control Theory World plan model act sense sense act act Reactive (fly-by-wire, inner loop control): • Many concurrent stimulus-response behaviors, strung together with simple scripting with FSA • Action is generated by sensed or internal stimulus • No awareness, no monitoring • Models are of the vehicle, not the “larger” world Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 29 1 How AI Relates to Factory Automation Deliberative: monitoring generating • Upper level is mission generation & monitoring • But World Modeling & Monitoring is hard (SA) implementing • Lower level is selection of behaviors to accomplish task (implementation) & local monitoring World plan model selecting sense act sense sense act act Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 30 1 But…Theory-Practice Gap We don’t know how to do this… Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary monitoring generating World plan model selecting sense implementing act sense sense act act Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 31 generating World model plan selecting act sense sense act act Reasoning over information about goals: • Promising results: Navigation, payload planning, contingency replanning • Open issues: Multi-agent replanning, fault recovery & reconfiguration, reasoning over multiple failures Converting sensor data into information: • Promising results: ATR, single failure health monitoring • Open issues: creation of world models & situation awareness, monitoring & detection of new threats, exceptions, opportunities Skills and responses REACTION: FLIGHT CONTROL sense implementing DELIBERATION: MISSION MANAGMENT monitoring 1 Summary • Robots mean more than just Sony dogs and Mars Rovers: land, air, sea, and underwater Definition Motivation Modalities Intelligence -Biological -Engineering -AI -Paradigms Summary • Automation assumes a “closed world” while autonomy assumes a “open world” which can change unexpectedly • Engineering approaches focus on how to execute an action, AI approaches focus on why to perform the action at that particular time. • Control Theory and AI is currently pretty good with “low level” or “muscle” intelligence • AI can outperform humans in planning, optimization, etc. • AI isn’t good at converting sensing into information or incorporating learning Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 33 1 Review Questions • What is an Intelligent Robot? • What are two reasons to have robots? • What are the four modalities of autonomous (unmanned) vehicles? • What are the five components common to all autonomous systems? • What are two differences between AI and Engineering approaches to robotics? • What is the difference between automation and autonomy? • What is the state of the practice? • What are the seven areas of Artificial Intelligence? • What are the three primitives of robot paradigms? • What are the three paradigms of robotics in terms of these primitives? Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 34 1 Glossary • • • • • • • • • • • • • • • • • • • • 3 D’s of robotics Act AI Automation Autonomous underwater vehicle Autonomy Closed world Intelligent robot Micro aerial vehicle Mote NBC Open world Paradigm Plan Sense Unmanned aerial vehicle Unmanned ground vehicle Unmanned surface vehicle Unmanned underwater vehicle World model (part of plan robot primitive) Introduction to AI Robotics R. Murphy (MIT Press 2000) for second edition 35