Intelligent Robotics An Introduction The Kings Academy November

Intelligent Robotics An Introduction The King’s Academy November 2, 2007 The King's Academy

Basic Definitions n Artificial Intelligence Ø Study intelligence Ø Apply – design intelligent systems Ø Purpose – to better serve mankind 2007 The King's Academy 2

Basic Definitions n Robot Ø Embodied Ø Autonomous Ø Agent n Intelligent robot Ø + Intelligent 2007 The King's Academy 3

Embodied n Situated Ø Located in the world n Sensor (receptor) Ø Receive “raw” information about world n Effector (actuator) ØAccomplish an action » with respect to self » with respect to world Ø “one who brings about a result or event; one who accomplishes a purpose” 2007 The King's Academy 4

Autonomous Autos : : self n Nomos : : law n Definition n Ø Self-governing » Note: The term cybernetics stems from the Greek Κυβερνήτης (kybernetes, steersman, governor, pilot, or rudder — the same root as government). Ø Independent in mind or judgment Ø Self-directing Ø Not controlled by others or outside forces 2007 The King's Academy 5

Agent n Definition Ø Ø n One that acts or has power/authority to act One that represents another Root meaning – one that acts or exerts power Means of effecting a result Software agent (David Croft) Ø Ø 2007 Delegacy – discretionary authority Competence Amenability – ability to adapt Software resident The King's Academy 6

Intelligence n n Many definitions MSN Encarta: “general mental capability to reason, solve problems, think abstractly, learn and understand new material, and profit from past experience. Intelligence can be measured by many different kinds of tasks. . . Intelligence draws on a variety of mental processes, including memory, learning, perception, decision-making, thinking, and reasoning. ” Einstein: “Imagination is more important than knowledge. ” Henk Tuten: “complex use of creativity” 2007 The King's Academy 7

Intelligence Another view n Creative simplicity n Examples n ØEvery mileage divisible by 3000 ØCutting the Gordian knot ØEfficient use of cars 2007 The King's Academy 8

Robot “Primitives” – Murphy n n 2007 Sense Plan Act 4 th – Learn The King's Academy 9

Origin of Robot Basics n Serve Act n Autonomous Sense 2007 The King's Academy 10

Origin of Robot Basics n The most basic : : Ø Act Ø Sense 2007 The King's Academy 11

Origin of Robot Basics n Serve Act n Autonomous Sense n Changing environment Plan n Plan Reason n Plan Represent knowledge n Knowledge Learning 2007 The King's Academy 12

Robot Basics n Sense n Act n Represent knowledge n Reason n Learn 2007 The King's Academy 13

Robot Action Paradigms n Deliberative n Reactive n Hybrid – deliberative/reactive 2007 The King's Academy 14

Deliberative Paradigm n Emphasis – knowledge representation n Detailed plan generation n Computationally expensive n Example Ø Shakey Ø Stanford Research Institute n Frame problem 2007 The King's Academy 15

Reactive Paradigm Emphasis – sense/act coupling n Knowledge resides in world n Simple animal intelligence n Ø Insects Ø Frog n Example Ø Roomba Ø Rodney Brooks Ø i. Robot n Limited operability 2007 The King's Academy 16

Hybrid Paradigm n Emphasis – behavior set n Knowledge base & reasoning n Action triggers n Example Ø Minerva Ø Sebastian Thrun Ø CMU & U/Bonn n Limits unknown 2007 The King's Academy 17

Unexplored Possibilities n Assistive robotics Ø Physical therapy Ø Occupational therapy n Swarm Intelligence n Autonomous vehicles n Example Ø Little Ben Ø Lehigh, Penn, Lockheed n DARPA Grand Challenge 2007 The King's Academy 18

1000 Mile Journey n Single steps Ø Mathematics Ø Computer science Ø Not a hoof left behind n Faithful servant Ø Share Master’s joy n Heads or Tails Ø You shall be the head and not the tail 2007 The King's Academy 19