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Autonomous Intelligent Mobile Robotics

Autonomous Intelligent Mobile Robotics. Jerry Weinberg Associate Professor Ross Mead Robot Scientist Computer Science. What is a Robot?. What is An Intelligent Robot?.

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Autonomous Intelligent Mobile Robotics

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  1. Autonomous Intelligent Mobile Robotics Jerry Weinberg Associate Professor Ross Mead Robot Scientist Computer Science What is a Robot?

  2. What is An Intelligent Robot? • An autonomous system which exists in the physical world, can sense its environment, and can act on it to achieve some goals.

  3. Living Autonomously • An autonomous robot acts on its own decisions • Robots are not directly controlled by humans • Can take input and advice from humans • Robots are not teleoperated • Making them much more difficult and interesting than Battlebots

  4. Autonomous Mobile Robots have to Solve Difficult Problems • Where am I? • Localization Problem • How do I get there? • Path Finding Problem • How do I find the door? • Object Recognition Problem • What are you asking me to do? • Language Understanding Problem • How can I tell you the answer to your question? • Speech Generation Problem

  5. Sensing the Environment • Sensors allow the robot to perceive its environment to get information that allows it to make decisions • Humans have 6 senses what are they? • What sensors does a robot need?

  6. Acting on the Environment • Robots have effectors that allow it to change the state of the world • What are human effectors? • What effectors can robots have?

  7. Achieving a Goal • Achieving a goal requires intelligent decision making • Artificial Intelligence

  8. LEGO Mindstorm RCX 3 Output or Motor Ports (A, B, C) 3 Input or Sensor Ports (1, 2, 3) IR Transmitter/Receiver

  9. Programming Your Bot

  10. Spectrum of Self-Control Teleoperation: Human Control Autonomous (AI) Control Shared Human – Robot Control Remote-Controlled Rats

  11. Spectrum of AI Robot Control

  12. Reactive/Behavior-Based Robot Control • Ignores world models Sense Act

  13. Finite State Machine

  14. Finding Inspiration • Constructopedia • Nature • Web www.legomindstorms.com www.lugnet.com/robotics/rcx roboti.cs.siue.edu

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