CS 378: Autonomous Intelligent Robotics Instructor: Jivko Sinapov - - PowerPoint PPT Presentation

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CS 378: Autonomous Intelligent Robotics Instructor: Jivko Sinapov - - PowerPoint PPT Presentation

Aug 21, 2023 272 likes •989 views

CS 378: Autonomous Intelligent Robotics Instructor: Jivko Sinapov http://www.cs.utexas.edu/~jsinapov/teaching/cs378/ Announcements FRI Summer Research Fellowships: https://cns.utexas.edu/fri/beyond-the-freshman-lab/fellowships Applications are

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CS 378: Autonomous Intelligent Robotics

Instructor: Jivko Sinapov

http://www.cs.utexas.edu/~jsinapov/teaching/cs378/

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Announcements

FRI Summer Research Fellowships: https://cns.utexas.edu/fri/beyond-the-freshman-lab/fellowships Applications are due March 1st but apply now! Funding is available for 4-5 students per FRI stream

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Announcements

Homework 3 is due Friday “night”

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Readings for this week: Behavior-based robotics

  • R. Brooks (1986). ``A Robust Layered Control System for a

Mobile Robot'', MIT AI Memo 864, Vol RA-2, No. 1. p. 14-23

  • R. Brooks (1991). "Intelligence Without Representation",

Artificial Intelligence, Volume 47 , Issue 1-3

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Progression

2D simulation 3D simulation 2D simulation Real World

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The Gazebo 3D simulator

  • Install gazebo_ros package:

sudo apt-get install ros-indigo-gazebo-ros

  • Run the simulator:

roslaunch gazebo_ros rubble_world.launch

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Today

1) Behavior-Based Robotics 2) ROS Services (part 2)

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Behavior-Based Robotics

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A Bit of History

First Industrial Robot (~60s)

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Modern Industrial Robots

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Teleoperation

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Teleoperation

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Teleoperation

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Teleoperation

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Teleoperation

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Teleoperation

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Robotics Timeline

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Teleoperation vs Telepresence

  • An early attempt to improve teleoperation

was to add more cameras / displays

  • Telepresence aims for placing the operator

in a virtual reality that mimics the robot's surroundings

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Telepresence Robots

http://www.pilotpresence.com/wp-content/uploads/2011/01/remote-presence-systemsv2.jpg

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Telepresence Robots

Example: https://www.youtube.com/watch?v=bVe66UW2XUU

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The need for (semi-) autonomy

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How should autonomy be achieved and organized?

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Robot Primitives

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The Early Answer (1967): Sense-Plan-Act

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The Early Answer (1967): Sense-Plan-Act

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The Early Answer (1967): Sense-Plan-Act

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Early Example of S-P-A

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Early Work on Planning

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Early Work on Planning

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Early Work on Planning

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Early Work on Planning

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A More Realistic Example

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A More Realistic Example

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A More Realistic Example

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A More Realistic Example

Is INROOM(IT,R1) true or false? CONNECTS(D1,R1,R2)? INROOM(IT,R2)? IT

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Representing Initial State

IT

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Representing Goal State

IT

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The “difference” table

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Logical Difference

  • r
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Eliminating the Difference

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Eliminating the Difference

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Eliminating the Difference

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Discussion

  • What are some limitations of planning with

STRIPS?

  • Where do the predicates, operators, etc.

come from?

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Then comes Rodney Brooks...

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GOFAI

  • GOFAI: good old-fashioned artificial

intelligence

  • Typically implemented as a central planner
  • perating on a set of symbols (predicates)
  • Tools: logic, predicate logic, PROLOG,

Search algorithms, etc.

  • Solution: sense → model → plan → act
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Brooks' opinion: GOFAI failed

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Abstraction is a dangerous weapon

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Toy worlds vs. Real worlds

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Toy worlds vs. Real worlds

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Brook's opinion: GOFAI failed

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Alternatives to Sense-Plan-Act

Sense-Plan-Act Reactive Hybrid

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Reactive Paradigm

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Reactive Paradigm Example

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Reactive Paradigm Example

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Reactive Paradigm Example

. . . .

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Reactive Paradigm Example

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Reactive Paradigm Example

. . . .

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The Hybrid Paradigm

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Functional vs. Behavioral Decomposition

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Words of Wisdom

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Where is Brooks now?

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Credits

  • “Introduction to AI Robotics” by Robin

Murphy

  • Slides by Lorenz Hillen from Universität

Bielefeld

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ROS Services

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Messages vs. Services

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Messages vs. Services

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Messages vs. Services

Publisher Subscriber Client Server t

  • p

i c r e q u e s t r e s p

  • n

s e

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Messages vs. Services

Publisher Subscriber Client Server t

  • p

i c r e q u e s t r e s p

  • n

s e

t1 t2 t3

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Calling Services in ROS

1) From the command line:

rosservice call <service_name> <request>

2) From code

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THE END