Autonomous Intelligent Robotics Instructor: Shiqi Zhang - PowerPoint PPT Presentation

Spring 2018 CIS 693, EEC 693, EEC 793: Autonomous Intelligent Robotics Instructor: Shiqi Zhang http://eecs.csuohio.edu/~szhang/teaching/18spring/

The gap between HRI and AI ● What is AI? – The theory and development of computer systems able to perform tasks that normally require human intelligence, such as visual perception, speech recognition, decision-making, and translation between languages. In Xiaodan Liu's reading

The gap between HRI and AI ● What is HRI Goodrich, M.A. and Schultz, A.C., 2007. Human-robot interaction: a survey. Foundations and trends in human-computer interaction, 1(3), pp.203-275.

The gap between HRI and AI AI: HRI: Search and optimization Human Psychology Statistical models Social robotics Pure machine learning Human-robot collaboration Non-robotics applications Reasoning Planning Computer Vision Natural Language

2D → 3D → Real world

“turtlesim” package ● turtlesim is a tool made for teaching ROS and ROS packages. ● “rosrun turtlesim turtlesim_node”

turtlesim topics ● /turtle1/cmd_vel ● /turtle1/color_sensor ● /turtle1/pose

Roll, Pitch, Yaw http://www.ros.org/reps/rep-0103.html

turtlesim services ● /clear – Clears the turtlesim background and sets the color to the value of the background parameters. ● /kill – Kills a turtle by name. ● /reset ● /spawn – Spawns a turtle at (x, y, theta) and returns the name of the turtle. Also will take name for argument but will fail if a duplicate name. ● /turtle1/set_pen ● /turtle1/teleport_absolute ● /turtle1/teleport_relative http://wiki.ros.org/turtlesim#turtlesim_node

How to kill a turtle?

Two turtles: hunter and runner ● Create two turtles – Runner: randomly selects linear and angular velocities – Hunter: keep moving toward the runner – When the runner-hunter distance is smaller than 1.0, kill the runner and generate a new one at a randomly selected position

How to implement it?

Main control loop

rqt_graph: nodes and topics

● /hunter/cmd_vel – Type: geometry_msgs/Twist – http://docs.ros.org/api/geometry_msgs/html/msg/Twi st.html

What you will learn from turtlesim ● Create your own ROS package ● Compile your own package (if you use C++) ● Publish messages to topics in program ● Submit service requests in program ● roslaunch

This Friday Meeting in the classroom (not lab)

Assignment 2 is available now ● http://eecs.csuohio.edu/~szhang/teaching/18sp ring/assignments/assign2.pdf