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AuRA: Autonomous Robot Architecture

AuRA: Autonomous Robot Architecture. From: Integrating Behavioral, Perceptual, and World Knowledge in Reactive Navigation Ron Arkin, 1990. Architecture. Hierarchical Planning 1. Generate possible linear segments. Hierarchical Planning 2. Find a piecewise linear plath.

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AuRA: Autonomous Robot Architecture

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  1. AuRA: Autonomous Robot Architecture From: Integrating Behavioral, Perceptual, and World Knowledge in Reactive Navigation Ron Arkin, 1990

  2. Architecture

  3. Hierarchical Planning1. Generate possible linear segments

  4. Hierarchical Planning2. Find a piecewise linear plath

  5. Hierarchical Planning3. Generate a sequence of schema groupings

  6. Using World Knowledge & Reactive Schemas • World knowledge can be used to determine the general area in which to move or look for a landmark • When the landmark is found, then reactive navigation takes over • Arkin’s claim: World knowledge is necessary for efficient, flexible, and generalizable navigation • Do you agree?

  7. Docking

  8. Docking in a Cluttered Environment

  9. Short Term Memory for dynamically acquired info Cartographer for building a map Homeostatic control to monitor internal conditions Long Term Memory for persistent, a priori info

  10. Discussion Questions • What is the best way of handling traps in vector potential fields? Noise addition, deadlines, or ?? • Can the noise schema ever cause the robot to become trapped beyond its capability to recover? • Are there times when the methodology of low-level reactive planning will fail? • What would happen if a motor schema failed to activate correctly, say, due to a hardware failure? Could the robot self-correct?

  11. Discussion Questions • The output of the schemas is a velocity vector. Are we assuming a nearly instantaneous change in velocity or a delay? • In the experiments conducted, a particular velocity is used. What if the velocity were increased? • How does the schema-based navigation relate to the way humans make navigational decisions? • How would the potential field navigation be adaptable to 3 dimensions?

  12. 3D Schema-Based Navigation

  13. Discussion Questions • If the perceptual schema confidence exceeds the motor schema threshold for action, the motor schema starts to produce a repulsive field surrounding the obstacle. Why? • What happens if obstacles suddenly appear or disappear? • How does the robot adapt? • What environments are idea for the use of schema-based navigation?

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