COMP 50: Autonomous Additional Research Talk Option Intelligent - - PDF document

COMP 50: Autonomous Intelligent Robotics

Instructor: Jivko Sinapov

http://www.cs.tufts.edu/comp/50AIR/

This Week

• Actions in ROS
• Reading Discussion
• Finding Related Robotics Research Articles
• Project Breakouts

Announcements Additional Research Talk Option

Collaborative All-Weather Sensing for Automated Vehicles Todd E. Humphreys UT Austin Thursday, March 15th, 3:00 pm @ Nelson Auditorium SEC Anderson 112 Graduate Research Talk: Coordination through Dialogue: Applications in Human-Robot Teaming Felix Gervits Tufts University Wednesday, March 14th, 5:00 pm @ Halligan 102

Project Proposal

• Due this Friday

Immediate openings @ my lab

• Undergraduate Research Assistants
• Spring 2018, Summer 2018, Fall 2018
• If interested, send me an email with a resume

and your availability in terms of terms and hours per week

The Project

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Augmented Reality

What this may look like with Turtlebot...

Readings

Burgard, Wolfram, et al. "Experiences with an interactive museum tour-guide robot." Artificial intelligence 114.1-2 (1999): 3-55.

Actions in ROS

• Main page: http://wiki.ros.org/actionlib
• Actions are like services but…

– Can be interrupted while being executed – Can publish feedback to the client who called them

• ver the course of execution

Calling navigation actions from code

• Let’s write a client that calls an action of type

move_base_msgs::MoveBaseAction

• This is the default action for making the robot

move to a (x,y, theta) goal in the map

ROS Action Demo (Part 2)

• Sending goals in the /map frame of reference
• Interrupting actions

Overview of Github Repo Reading Discussion

O'Regan, J. Kevin, and Alva Noe. "A sensorimotor account of vision and visual consciousness." Behavioral and brain sciences 24.5 (2001): 939-973.

Cartesian Theater Building 3D Models

[From Arkin (1998)]

Vision-guided Behaviors

[From Arkin (1998)]

• J. Kevin O'Regan and Alva Noë

[http://nivea.psycho.univ-paris5.fr/ASSChtml/ASSC.html] [http://nivea.psycho.univ-paris5.fr/ASSChtml/ASSC.html] [http://nivea.psycho.univ-paris5.fr/ASSChtml/ASSC.html] [http://nivea.psycho.univ-paris5.fr/ASSChtml/ASSC.html] [http://nivea.psycho.univ-paris5.fr/ASSChtml/ASSC.html]

[http://nivea.psycho.univ-paris5.fr/ASSChtml/ASSC.html] [http://nivea.psycho.univ-paris5.fr/ASSChtml/ASSC.html]

Scan Path

[http://nivea.psycho.univ-paris5.fr/ASSChtml/ASSC.html]

Even Longer Scan Path

[http://nivea.psycho.univ-paris5.fr/ASSChtml/ASSC.html]

Another Example

[http://nivea.psycho.univ-paris5.fr/ASSChtml/ASSC.html] [http://nivea.psycho.univ-paris5.fr/ASSChtml/ASSC.html]

[http://nivea.psycho.univ-paris5.fr/ASSChtml/ASSC.html] [http://nivea.psycho.univ-paris5.fr/ASSChtml/ASSC.html]

Discussion Dreaming and Robots

“I’m curious as to what would be an equivalent [to dreaming] for a robot? […] would it be possible to replicate the process of dreaming and mental imagery in a robot? As a human, the ability to mentally imagine a scene is very useful for preparing and planning and while it might not abide by the definition set in this article, the idea behind it could be applied similarly in robotics to allow robots to simulate their environments internally in a way that can help them for whatever tasks.”

• Matthew

Vision vs. other senses

“How would O’Regan and Noë define what “vision” is in robots in particular? Using human vision as a template for robot vision could in practice be very

• limiting. The line between “vision” and other senses

blur together quickly in a robot. For instance, if a robot could detect magnetic fields does this count as “seeing” them? Similarly can robots “see” heat through infrared cameras? Do O’Regan and Noë believe their concept of vision applies to these extensions of vision in robots?”

• Amel

“A question I have now: is the general sense in the field of autonomous robotics that some problems might be answered or at least reworked from a new philosophical/conceptual perspective?”

• Grant

Discussion

• To what extent can theories and models from

psychology help advance robotics?

Finding Relevant Literature

• Relevant robotics journals and conferences
• Using google scholar

Project Breakout I

• Breakout into your project groups
• Think of the modules / components you need to

write for your system to work

– What are the inputs and outputs of each? – How will you make them talk to each other?

Messages? Services? Or Actions?

– How will you organize them into separate ROS

packages?

– Setup a github repository

Project Breakout II

• Use google scholar to find 2-3 published

articles that are related to your project

• Create a shared document for your team to

keep track of related research articles

THE END