Behavior-Based Robotics Companion slides for the book Bio-Inspired - PowerPoint PPT Presentation

Behavior-Based Robotics Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 1 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

A.I. Robotics In traditional Artificial Intelligence robot brains are serial processing units. task execution motor control perception modeling planning sensors actuators The keystone ideas behind this approach are: • Representations, Reasoning, Planning • Model Building (for example, geometric maps) • Functional Decomposition, Hierarchical systems • Symbol manipulation Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 2 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Behavior-Based Robotics (Brooks, 1996) The Behavior-Based approach states that intelligence is the result of the interaction among an asynchronous set of behaviors and the environment. manipulate the world build maps sensors actuators explore avoid hitting things S R locomote S R S R S R The keystone ideas behind this approach are: S R • Embodiment S R • Situatedness S R • Emergent complexity • No planning Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 3 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

A Paradigm Shift • Thinking and reasoning Acting and behaving • Seat of intelligence: brain Seat of intelligence: organism • Artificial Intelligence Artificial Life • Information processing Sensory-motor coordination • Cartesian thinking Agent-centered; action based Behavior-Based paradigm affects both software and hardware design Ghenghis, 1985, MIT Shakey, 1970, Stanford Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 4 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Priorities for Robotics From Brooks, 1998 Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 5 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

A behavior • A behavior is a reaction to a stimulus stimulus BEHAVIOR response TURN-RIGHT Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 6 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Examples of behaviors • Exploration/directional behaviors (move in a general direction) heading based, wandering • Goal-oriented appetitive behaviors (move towards an attractor) discrete object attractor, area attractor • Aversive/protective behaviors (prevent collision) avoid stationary objects, elude moving objects (escape), aggression • Path following behaviors (move on a designated path) road following, hallway navigation, stripe following • Postural behaviors balance, stability • Social/cooperative behaviors sharing, foraging, flocking • Perceptual behaviors visual search, ocular reflexes • Walking behaviors (for legged robots) gait control • Manipulator-specific behaviors (for arm control) reaching, moving • Gripper hand behaviors (for object acquisition) grasping [from Arkin, 1998] Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 7 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

A Behavioral Module (Brooks, 1986) reset suppression R S BEHAVIORAL INPUT OUTPUT LINES MODULE LINES I inhibition Augmented Finite State Machine - local computation - mappable into hardware - no global clock, memory, bus - no central models Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 8 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Subsumption architecture (Brooks, 1986) • The architecture is built incrementally • Start by building in lowest level of competence • Validate on robot, debug, adjust, validate, adjust, … • Robot is immediately operational Collision avoidance Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 9 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Subsumption architecture (Brooks, 1986) • Novel layer exploits (subsumes) earlier competence • Earlier behaviors are not modified • Design, test, debug, adjust, test, adjust,… navigation Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 10 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Subsumption architecture (Brooks, 1986) exploration Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 11 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Methodology Assess Agent-Environment Dynamics Partition Into Situations Create Situational Responses Import Behaviors to Robot Run Robotic Enhance, Experiments Expand, Correct Evaluate Behavioral Responses Results Done Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 12 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Conflict resolution Two robots must get to the opposite end of a narrow corridor. Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 13 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Behavioral outcome Courtesy of Applied AI Systems, Inc. Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 14 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Intelligent wheelchair TAO1 - Courtesy of Applied AI Systems, Inc. Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 15 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Architecture Laboratory of Intelligent Systems 16 16 http://lis.epfl.ch

Behavior coordination In addition to Subsumption Architecture, there are a few other ways of coordinating behaviors obstacle avoidance seek gas leak battery recharge tele-operation Competitive methods: priority action-selection vote-based Behavior Coordination Cooperative methods: fusion Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 17 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Priority Based (subsumption) P behavior 1 E R C behavior 2 E P behavior 3 T I Response of behavior behavior 4 O With highest level N PRIORITY-BASED of subsumption Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 18 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Action Selection (Maes, 1989) P behavior 1 E R C behavior 2 Response of behavior with MAX[act(b1),act(b2), E highest activation level act(b3),act(b4)] P behavior 3 T I behavior 4 O N ACTION SELECTION Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 19 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Vote Based P behavior 1 E R1 R C behavior 2 Response MAX[votes(R1), votes(R2), R2 E with most votes(R3)] P behavior 3 votes T R3 I behavior 4 O N VOTE-BASED Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 20 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Fusion P behavior 1 R1 E R R2 C behavior 2 Fused Σ E (weighted) P R3 behavior 3 response T I R4 behavior 4 O N BEHAVIOR FUSION Often implemented as a neural network Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 21 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

MIT historical behavior-based robots video clips MIT Artificial Intelligence Laboratory Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 22 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Comparison (Arkin, 1998) Traditional Behavior-based Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 23 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Applications: entertainment Intelligence based on behavior technology Speech and touch interaction Excellent mechanics Learning abilities (walk) Mood change AIBO family Sony Remote control Behavior sticks Picture snapshot Robot-to-robot interaction Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 24 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Applications: assistants Minerva Coworker Helpmate CMU iRobot stored programmable map no magnetic tracks obstacle avoidance obstacle avoidance programmable path internet video conference information delivery on screen interactive, radio-link office surveillance voice interaction Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 25 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

Applications: transport Agriculture mate Intelligent Wheelchair Applied AI Systems Applied AI Systems Construction robot Applied AI Systems color vision tracking vision-based navigation obstacle avoidance behavior-based control active beamers interactive navigation obstacle avoidance active beamers Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, 26 Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press