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Course Objectives

Course Objectives. Know what it takes to make a robust autonomous robot work: Sense/Think/Act Understand the important, approaches, research issues and challenges in autonomous robotics. Know how to program an autonomous robot. What Can Robots Be Used For?. Manufacturing 3 Ds Dirty Dull

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Course Objectives

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  1. Course Objectives • Know what it takes to make a robust autonomous robot work: • Sense/Think/Act • Understand the important, approaches, research issues and challenges in autonomous robotics. • Know how to program an autonomous robot. Chapter 1

  2. What Can Robots Be Used For? • Manufacturing • 3 Ds • Dirty • Dull • Dangerous • Space • Satellites, probes, planetary landers, rovers • Military • Agriculture • Construction • Entertainment • Consumer? Chapter 1

  3. History of Intelligent Robotics • 1940s • First remote manipulators for hazardous substances • 1950s • Industrial manipulators: “reprogrammable and multi-functional mechanism designed to move materials, parts, tools…” • Closed loop control Chapter 1

  4. History Continued • 1955 – term “AI” coined • 1960s manufacturing robots • Automatic guided vehicles (AGVs) • Precision, repeatability • Emphasis on mechanical aspects • 1970s • Planetary landers • Machine vision research expands • 1980s • Black factory • First intelligent autonomous robots: • Shakey, Stanford Cart, etc Chapter 1

  5. History Continued • 1990s • Symbolic AI/Robotics stalls • Reactive/Behavior-based robotics emerges • 2000s • ? Chapter 1

  6. Intelligent Robot • Mechanical creature which can function autonomously • Mechanical= built, constructed • Creature= think of it as an entity with its own motivation, decision making processes • Function autonomously= can sense, act, maybe even reason; doesn’t just do the same thing over and over like automation Chapter 1

  7. “Intelligent” Robotics • Basic robot primitives : Sense/Think/Act • Three paradigms (architectures): - Hierarchical (Deliberative): Sense ->Plan ->Act ; - Reactive: Sense -> Act; - Hybrid (Deliberative/Reactive): Plan -> Sense -> Act Chapter 1

  8. Ways of Controlling a Robot • “RC-ing” • you control the robot • you can view the robot and it’s relationship to the environment • ex. radio controlled cars, bomb robots • operator isn’t removed from scene, not very safe • teleoperation • you control the robot • you can only view the environment through the robot’s eyes • don’t have to figure out AI • semi- or full autonomy • you might control the robot sometimes • you can only view the environment through the robot’s eyes • ex. Sojouner with different modes • human doesn’t have to do everything Chapter 1

  9. Teleoperation • Human controls robot remotely • Hazardous materials • Search and rescue • Some planetary rovers • Considerations • Feedback (video, tactile, smell?) • User interfaces (cognitive fatigue, nausea) • Time/distance Chapter 1

  10. Remote Local Sensor Communi- cation Display Mobility Control Effector Power Components of a Telesystem(after Uttal 89) • Local • display • Local control device • Communication • Remote • sensor • mobility • effector • power Chapter 1

  11. Example Remote Local Chapter 1

  12. Typical Run Chapter 1

  13. Problems that You Saw • no feedback, couldn’t really tell that the robot was stuck but finally got free • robot doesn’t have “proprioception” or internal sensing to tell you what the flippers were doing. No crunching noises, no pose widget to show the flippers • no localization, mapping-> no idea how far traveled • partial solution: better instrumentation (but can’t do dead reckoning well) • operator doesn’t have an external viewpoint to show itself relative to the environment • solution: two robots, one to spot the other • communications dropout, even though ~3 meters away • lighting conditions went from dark to very bright • hard for computer vision or human to adjust Chapter 1

  14. DarkStar+7 seconds=DarkSpot • 7 second communications lag (satellite relay) • “interruption” lag on part of operator Chapter 1

  15. Predator:~7:1 human to robot ration • 4 people to control it (52-56 weeks of training) • one for flying • two for instruments • one for landing/takeoff • plus maintenance, sensor processing and routing • lack of self-awareness– in Kosovo, come along side in helicopter and shoot down Leo’s unofficial Predator page Chapter 1

  16. Teleop Problems • cognitive fatigue • communications dropout • communications bandwidth • communications lag • too many people to run one robot Chapter 1

  17. Telesystems Best Suited For: • the tasks are unstructured and not repetitive • the task workspace cannot be engineered to permit the use of industrial manipulators • key portions of the task require dexterous manipulation, especially hand-eye coordination, but not continuously • key portions of the task require object recognition or situational awareness • the needs of the display technology do not exceed the limitations of the communication link (bandwidth, time delays) • the availability of trained personnel is not an issue Chapter 1

  18. Teleop Solutions • Telepresence • improves human control, reduces simulator sickness and cognitive fatigue by providing sensory feedback to the point that teleoperator feels they are “present” in robot’s environment • Semi-autonomous • Supervisory Control • human is involved, but routine or “safe” portions of the task are handled autonomously by the robot • Shared Control • human initiates action, interacts with remote by adding perceptual inputs or feedback, and interrupts execution as needed • Traded Control • human initiates action, does not interact • Mixed Initiative (Guarded Control) • robot doesn’t let the operator injure the robot (without override) • “whoever figures it out first” Chapter 1

  19. Collaborative Teleoperation 1 3 mpg: June 2, 2000 SRDR Miami Beach: view from Inuktun as it falls mpg: June 2, 2000 SRDR Miami Beach: view from Inuktun from hoisted position 2 • Urban is stuck, Inuktun can’t help from current perspective • Driven off 3rd floor • Hoisted to 2nd floor by tether • Has better view, changing configuration & rocking extend view still: June 2, 2000 SRDR Miami Beach Chapter 1

  20. 2000 AAAI Mobile Robot • 2 robots helping each other reduced collision errors, sped up time navigating confined space, righting Chapter 1

  21. Example:Mixed-Initiative & Collab. Teleop • 9/2000 DARPA Tactical Mobile Robots demonstration • Robot used an intelligent assistant agent to look for signs of snipers hiding in urban rubble • motion • skin color • difference in color • thermal (IR camera) • Human navigated mother robot using viewpoint of 2nd robot (not in picture) • Once deposited the human moved the daughter robot, and either saw a sniper or was alerted by the agent Chapter 1

  22. AI provides the “other stuff” • knowledge representation • understanding natural langugage • learning • planning and problem solving • inference • search • vision Chapter 1

  23. Summary • Teleoperation arose as an intermediate solution to autonomy, but it has a number of problems:cognitive fatigue, high comms bandwidth, short delays, and many:one human to robot ratios. Telepresence tries to reduce cognitive fatigue through enhanced immersive environments Semi-autonomy tries to reduce fatigue, bandwidth by delegating portions of the task to robot Chapter 1

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