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

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

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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

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Behavior-Based Robotics

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

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A.I. Robotics

The keystone ideas behind this approach are:

  • Representations, Reasoning, Planning
  • Model Building (for example, geometric maps)
  • Functional Decomposition, Hierarchical systems
  • Symbol manipulation

sensors actuators motor control task execution planning modeling perception

In traditional Artificial Intelligence robot brains are serial processing units.

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

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Behavior-Based Robotics (Brooks, 1996)

sensors actuators manipulate the world build maps explore avoid hitting things locomote

The Behavior-Based approach states that intelligence is the result of the interaction among an asynchronous set of behaviors and the environment. The keystone ideas behind this approach are:

  • Embodiment
  • Situatedness
  • Emergent complexity
  • No planning

S R S R S R S R S R S R S R

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

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A Paradigm Shift

Behavior-Based paradigm affects both software and hardware design

  • 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

Shakey, 1970, Stanford Ghenghis, 1985, MIT Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press

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Priorities for Robotics

From Brooks, 1998

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

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  • A behavior is a reaction to a stimulus

stimulus BEHAVIOR response

TURN-RIGHT

A behavior

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

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  • 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]

Examples of behaviors

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

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BEHAVIORAL MODULE S I R

INPUT LINES OUTPUT LINES reset inhibition suppression

Augmented Finite State Machine

  • local computation
  • mappable into hardware
  • no global clock, memory, bus
  • no central models

A Behavioral Module (Brooks, 1986)

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

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Subsumption architecture (Brooks, 1986)

Collision avoidance

  • The architecture is built incrementally
  • Start by building in lowest level of competence
  • Validate on robot, debug, adjust, validate, adjust, …
  • Robot is immediately operational

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

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Subsumption architecture (Brooks, 1986)

navigation

  • Novel layer exploits (subsumes) earlier competence
  • Earlier behaviors are not modified
  • Design, test, debug, adjust, test, adjust,…

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

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Subsumption architecture (Brooks, 1986)

exploration

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

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Assess Agent-Environment Dynamics Partition Into Situations Create Situational Responses Import Behaviors to Robot Run Robotic Experiments Evaluate Results Enhance, Expand, Correct Behavioral Responses Done

Methodology

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

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Two robots must get to the

  • pposite end of a narrow

corridor.

Conflict resolution

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

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14 Courtesy of Applied AI Systems, Inc.

Behavioral outcome

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

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TAO1 - Courtesy of Applied AI Systems, Inc.

Intelligent wheelchair

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

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

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Architecture

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Behavior Coordination Competitive methods:

priority action-selection vote-based

Cooperative methods:

fusion

  • bstacle avoidance

seek gas leak battery recharge tele-operation

Behavior coordination

In addition to Subsumption Architecture, there are a few other ways

  • f coordinating behaviors

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

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18 behavior 1 behavior 2 behavior 3 behavior 4

Response of behavior With highest level

  • f subsumption

PRIORITY-BASED P E R C E P T I O N

Priority Based (subsumption)

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

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MAX[act(b1),act(b2), act(b3),act(b4)]

behavior 1 behavior 2 behavior 3 behavior 4

Response of behavior with highest activation level

ACTION SELECTION P E R C E P T I O N

Action Selection (Maes, 1989)

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

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20 behavior 1 behavior 2 behavior 3 behavior 4

Response with most votes

VOTE-BASED P E R C E P T I O N

R1 R2 R3

MAX[votes(R1), votes(R2), votes(R3)]

Vote Based

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

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21 behavior 1 behavior 2 behavior 3 behavior 4

Fused (weighted) response

BEHAVIOR FUSION P E R C E P T I O N

R1 R2 R3 R4

Σ Often implemented as a neural network

Fusion

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

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MIT Artificial Intelligence Laboratory video clips

MIT historical behavior-based robots

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

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Comparison (Arkin, 1998)

Traditional Behavior-based

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

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AIBO family Sony Intelligence based on behavior technology Speech and touch interaction Excellent mechanics Learning abilities (walk) Mood change Remote control Behavior sticks Picture snapshot Robot-to-robot interaction

Applications: entertainment

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

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Helpmate

no magnetic tracks programmable path interactive, radio-link

Coworker iRobot

  • bstacle avoidance

internet video conference

  • ffice surveillance

Minerva CMU

stored programmable map

  • bstacle avoidance

information delivery on screen voice interaction

Applications: assistants

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

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Construction robot Applied AI Systems

color vision tracking

  • bstacle avoidance

active beamers

Agriculture mate Applied AI Systems

  • bstacle avoidance

active beamers

Intelligent Wheelchair Applied AI Systems

vision-based navigation behavior-based control interactive navigation

Applications: transport

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

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Nomad CMU

mobile camera spectrometer magnetometer compass mineral sampling

Packbot iRobot

all terrain, including stairs 3 mt fall radio steering camera

Ariel iRobot

underwater, crab-like motion double-sided can be fitted with sensors

Applications: exploration

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

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28 COG, MIT Dream, Sony Fujitsu Pino, Sony Kismet, MIT Honda

Applications: R&D humanoids

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

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  • Intelligence is in the eye of the observer
  • The world is its own best model
  • Simplicity is a virtue
  • Planning is a way of avoiding figuring out what to do next
  • Robustness in the presence of noise or failing sensors is a design goal
  • Systems should be built incrementally
  • No representations. No calibration. No complex computers.
  • No high-bandwidth communication

Closing remarks (Brooks)

http://lis.epfl.ch/podcast

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