AUDASS & AMPHIS PROJECT

1. AUDASS & AMPHIS PROJECT Reactive Behaviour and Deliberative Reasoning in a Hybrid Architecture for Autonomous Robot. Prof. Marcello Romano Alessandro Allegro Spacecraft Robotics LABORATORY Spacecraft Robotics Laboratory Alessandro Allegro @ Oct 2006

2. Reactive Behaviour and Deliberative Reasoning in a Hybrid Architecture for Autonomous Robot. Project Goal Developing a software for simulation of the autonomous approach and docking for multy agent robots composed by multy chaser spacecraft to a target spacecraft simulator floating via air pads on a flat door. Spacecraft Robotics Laboratory Alessandro Allegro @ Oct 2006

3. Reactive Behaviour and Deliberative Reasoning in a Hybrid Architecture for Autonomous Robot. Introduction The humans are a sophisticated ‘autonomous agents’, and they are able to realize reactive and deliberative actions. Reactive actions are fast, instinctive responses that take place in response to dangerous conditions or engender fear. This kind of reaction has the principle function of defense from unexpected or dangerous events. Deliberative Action, on the other hand, are those actions that take place after logical reasoning. This kind of actions are slowly than reactive actions, but they are more accurate and complex than reactive actions. Spacecraft Robotics Laboratory Alessandro Allegro @ Oct 2006

4. Reactive Behaviour and Deliberative Reasoning in a Hybrid Architecture for Autonomous Robot. Base Structure NET Sense Reason Act I’m <robot_name>, and my configration is <list_of_sensors>,<list_of_actuators>. My behaviours are <search_<robot_name>>,<docking> etc… • <list_of_actuators> • Thrusters • CMG • <list_of_sensors> • GPS • ( Encoder ) • LIDAR Spacecraft Robotics Laboratory Alessandro Allegro @ Oct 2006

5. Thread And Message Box Class s2r Encoder Right r2s r2a Encoder Left s2a Monitor Core a2r Net a2s Act eright2s Reason eleft2s Sense all2mon Reactive Behaviour and Deliberative Reasoning in a Hybrid Architecture for Autonomous Robot. Spacecraft Robotics Laboratory Alessandro Allegro @ Oct 2006

6. Reactive Behaviour and Deliberative Reasoning in a Hybrid Architecture for Autonomous Robot. Example of threads generation, and communication. Spacecraft Robotics Laboratory Alessandro Allegro @ Oct 2006

7. Reactive Behaviour and Deliberative Reasoning in a Hybrid Architecture for Autonomous Robot. Idea Reactive Behaviour Sense Reason Act Deliberative Reasoning World Information Actuators Spacecraft Robotics Laboratory Alessandro Allegro @ Oct 2006

8. Reactive Behaviour and Deliberative Reasoning in a Hybrid Architecture for Autonomous Robot. Net Comunication Chaser1 Monitor Target Chaser2 Spacecraft Robotics Laboratory Alessandro Allegro @ Oct 2006

9. Reactive Behaviour and Deliberative Reasoning in a Hybrid Architecture for Autonomous Robot. Sensors and actuators Spacecraft Robotics Laboratory Alessandro Allegro @ Oct 2006

10. Reactive Behaviour and Deliberative Reasoning in a Hybrid Architecture for Autonomous Robot. • Operative system and software • Linux Gentoo • C++ • Qt • CVS • Hardware on Robot • EPM CPU 10 • -Card Trusters Controller • -Camera Pixelink • -CMG • Hardware for Simulation • -4 Pentium 4 • -1 amd 64 Spacecraft Robotics Laboratory Alessandro Allegro @ Oct 2006

11. Reactive Behaviour and Deliberative Reasoning in a Hybrid Architecture for Autonomous Robot. Current Results • Total software time execution > 10 ms, include rs232 and TCP/IP communications • Increasing of frame rate of camera ~5fps -> ~18fps • Line code on October 4 • 3978 audass/amphis • 698 monitor • (2333) libdc1394 • (175) libepos • Total 4676 ( 7184 ) Spacecraft Robotics Laboratory Alessandro Allegro @ Oct 2006