Autonomous Intelligent Robotics Instructor: Shiqi Zhang - - PowerPoint PPT Presentation

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Autonomous Intelligent Robotics Instructor: Shiqi Zhang - - PowerPoint PPT Presentation

Nov 25, 2022 746 likes •943 views

Spring 2017 CIS 493, EEC 492, EEC 592: Autonomous Intelligent Robotics Instructor: Shiqi Zhang http://eecs.csuohio.edu/~szhang/teaching/17spring/ Reading Be specific on where you are pointing to Good In Figure 1-c, it is said

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Spring 2017 CIS 493, EEC 492, EEC 592:

Autonomous Intelligent Robotics

Instructor: Shiqi Zhang

http://eecs.csuohio.edu/~szhang/teaching/17spring/

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SLIDE 2

Reading

  • Be specific on where you are pointing to

– “In Figure 1-c, it is said that… I don’t understand..” – “It is said in the paper… Why does…? ”

Good Bad

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Reading: “BWIBots: A platform for bridging the gap between AI and Human-Robot Interaction research”

  • Planning using action language BC

– Will be discussed in “task planning”

  • Incorporating uncertainty into planning

– Will be discussed in “commonsense reasoning”

  • Understanding natural language requests

– Will be discussed in “natural language processing”

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SLIDE 4
  • Robot should be able to notify its admin via

email or SMS when it is stuck and can not find a path to its goal

  • BWIBot can also be used as telepresence robot

– Utkarsh

"Virtour: Telepresence System for Remotely Operated Building Tours" https://apps.cs.utexas.edu/apps/sites/default/files/tech_reports/TR-1611.pdf

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What type of robot do you need?

https://www.ted.com/talks/a_robot_that_flies_like_a_bird At 2:00

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Indoor wheeled robots

3k-6k

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Indoor wheeled robots

3k-6k 30k-60k

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Indoor wheeled robots

3k-6k 30k-60k 300k-600k

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Indoor wheeled robots

3k-6k 30k-60k 300k-600k

How are they different?

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BWIBot hardware

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What exactly is happening? Video

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Symbolic-level planning: goto(room_101) 2d position: <x, y, theta> Semantic map 2d trajectory Global path planner Local path planner Control signals

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Questions

  • Which level robot localization is placed at?

– Particle filter (AMCL) – Kalman filter

  • Where is obstacle avoidance?

– Dynamic window – Vector Field Histogram

  • Where is A* and/or Dijkstra?
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The software architecture for the BWIBots

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The next reading

  • Fox, Dieter, Wolfram Burgard, Frank Dellaert, and Sebastian Thrun.

"Monte carlo localization: Efficient position estimation for mobile robots." AAAI 1999, no. 343-349 (1999): 2-2.

  • This paper just won the AAAI Classic Paper Award

https://rse-lab.cs.washington.edu/2017-aaai-classic-paper-award-goes-to-monte-carlo-localization-paper/