Introduction To Cognitive Robots Prof. Brian Williams Wednesday, February 2nd, 2004
Copyright B. Williams
16.412J/6.834J, Fall 02
Outline • • • •
Examples of Robots as Explorers Course Objectives Student Introductions and Goals Introduction to Model-based Programming
Copyright B. Williams
16.412J/6.834J, Fall 02
Course Objective 1 To understand the main types of cognitive robots and their driving requirements: • “Immobile” Robots and Engineering Operations – Robust space probes, ubiquitous computing
• Robots That Navigate – Hallway robots, Field robots, Underwater explorers, stunt air vehicles
• Cooperating Robots – Cooperative Space/Air/Land/Underwater vehicles, distributed traffic networks, smart dust.
Accomplished by: ¾ Case studies, invited lectures & final projects. Copyright B. Williams
16.412J/6.834J, Fall 02
Immobile Robots in Space Copyright B. Williams
16.412J/6.834J, Fall 02
Copyright Williams courtesy B. NASA Ames
16.412J/6.834J, Fall 02
Autonomous Systems use Models to Anticipate or Detect Subtle Failures
CO2 concentration (ppm)
1200
NASA Mars Habitat lighting system
Crew Chamber
pulse injection valves
crew requests entry to plant growth chamber
1100 1000 900 800
crew enters chamber 700
crew leaves chamber
lighting fault
600 500
Airlock
Plant Growth Chamber 400
flow regulator 1 CO2
CO2 tank
600
700
800
900
1000 1100 time (minutes)
1200
1300
1400
flow regulator 2
chamber control
Copyright B. Williams
16.412J/6.834J, Fall 02
The Role of Robots in Human Exploration
Copyright B. Williams
16.412J/6.834J, Fall 02
Robonaut: Robotic Assistance For Orbital Assembly and Repair
Copyright B. Williams
16.412J/6.834J, Fall 02
Outline • • • •
Examples of Robots as Explorers Course Objectives Student Introductions and Goals Introduction to Model-based Programming
Copyright B. Williams
16.412J/6.834J, Fall 02
Course Objective 2 • To understand advanced methods for creating highly capable cognitive robots. Plan Activities
Localize in World
Monitor & Diagnosis
Interpret Scenes
Manage Dialogue
Execute & Adapt
Navigation & Manipulation Manipulation
Map and Explore
Accomplished by: ¾ Lectures on advanced core methods ¾ ~ Implement & empirically compare two core methods. Copyright B. Williams
16.412J/6.834J, Fall 02
Lectures: Planning and Acting Robustly Monitoring, and Diagnosis • Diagnosing Multiple Faults • Constraint-based Monitoring • Hybrid Monitoring and Estimation
Planning Missions • Planning using Informed Search • Planning with Time and Resources • Robust Plan Execution Through Dynamic Scheduling • Reactive Planning and Execution
Plan Activities Monitor & Diagnosis Copyright B. Williams
Execute & Adapt 16.412J/6.834J, Fall 02
Lectures: Interacting With The World Simultaneous Localization and Mapping • Basic SLAM • Vision-based SLAM Cognitive Vision • Visual Interpretation using Probabilistic Grammars • Context-based Vision Localize in World
Navigation & Manipulation • Probabilistic Path Planning • Exploring Unknown Environments Human - Robot Interaction • Discourse Management & Nursebot • Social Robotics Navigation & Manipulation
Interpret Scenes
Manipulation Manage Dialogue
Copyright B. Williams
Map and Explore 16.412J/6.834J, Fall 02
Lectures: Fast, Large-scale Reasoning Optimality and Soft Constraints • Optimal CSPs and Conflict-Learning • Valued CSPs and Dynamic Programming • Solving CSPS through Tree Decomposition
Incremental Methods • Incremental Satisfiability • Incremental Scheduling • Incremental Path Planning
Any-Time Enumeration Incremental Reasoning Copyright B. Williams
Symbolic State Space Encodings Structural Decomposition 16.412J/6.834J, Fall 02
Topics On Cognitive Robot Capabilities • Robots that Plan and Act in the World – Robots that Deftly Navigate – Planning and Executing Complex Missions
• Robots that Are State-Aware – Robots that Find Their Way In The World – Robots that Deduce Their Internal State
• Robots that Preplan For An Uncertain Future – Theoretic Planning in a Hidden World – State and Fault Aware Systems Copyright B. Williams
16.412J/6.834J, Fall 02
Course Objective 3 • To dive into the recent literature, and collectively synthesize, clearly explain and evaluate the state of the art in cognitive robotics. Accomplished by: ¾ Group lectures on advance topic ¾ One 40 minute lecture per student ¾ tutorial article on ~2 methods, to support lectures. ¾ Groups of size ~2.
Copyright B. Williams
16.412J/6.834J, Fall 02
Course Objective 4 To apply one or more core reasoning methods to create a simple agent that is driven by goals or rewards Plan Activities
Localize in World
Monitor & Diagnosis
Interpret Scenes
Manage Dialogue
Execute & Adapt
Navigation & Manipulation Manipulation
Map and Explore
Accomplished by: Final project during half of course ¾ Implement and demonstrate one or more reasoning methods in a simple cognitive robot scenario (simulated or hardware). ¾ Final project report. ¾ Short project demonstration. Copyright B. Williams
16.412J/6.834J, Fall 02
Outline • • • •
Examples of Robots as Explorers Course Objectives Student Introductions and Goals Introduction to Model-based Programming
Copyright B. Williams
16.412J/6.834J, Fall 02
