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

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

Apr 13, 2023 216 likes •389 views

Spring 2018 CIS 693, EEC 693, EEC 793: Autonomous Intelligent Robotics Instructor: Shiqi Zhang http://eecs.csuohio.edu/~szhang/teaching/18spring/ Reading: BWIBots: A platform for bridging the gap between AI and Human-Robot Interaction

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Spring 2018 CIS 693, EEC 693, EEC 793:

Autonomous Intelligent Robotics

Instructor: Shiqi Zhang

http://eecs.csuohio.edu/~szhang/teaching/18spring/

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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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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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Planning at symbolic level

  • A description about action preconditions and

effects

  • Initial and goal states
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Global path planning

  • A PRM example
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Local path planning for obstacle avoidance

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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/IAAI 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/