2 Robot Software Architectures - University of New South Wales€¦ · •Most robot systems are ad...
Transcript of 2 Robot Software Architectures - University of New South Wales€¦ · •Most robot systems are ad...
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Robot Software Architectures
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• Mostrobotsystemsareadhoccombina2onsofcomponents
• Supportedbyso7warearchitectures(e.g.ROS)
• Noprincipledwayofcombiningcomponents
• Noprincipledwayofextendingsystemorcomponentsthroughlearning
Robotso7warearchitectures
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Cogni2veArchitecturesforRobots
Long-Term Conceptual
Memory
Short-Term Belief
Memory
Short-Term Goal Memory
Conceptual Inference
Skill Execution
Perception
Environment
Perceptual Buffer
Problem Solving Skill Learning
Motor Buffer
Skill Retrieval and Selection
Long-Term Skill Memory
• Howtointegratethesespecialisedcomponents?
• Whatisanappropriatearchitecture?
Icarus – Langley
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World ModelPerception Action
Agent Architecture
Sensors Actuators
Monitor / Goal Selection
Albus - RCS Nilsson - Triple Tower
World Model
Perception Action
World ModelPerception Action
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ScalesintheHierarchy
• General,determinis2c,persistent,slow,humanreadable
• Specialised,stochas2c,transient,fast,unreadable
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Nilsson’s Triple Tower
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RCS(Albus)
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Robot Operating System (ROS)
ROS Node Topic
ROS Node
ROS NodeROS
NodeROS Node
Topic
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Blackboards
• Agentscommunicatebypos2ngobjectstoblackboard
• Objectsare2mestampedandloggedtoadatabase
• enablesintrospec2onandlearning
• Anagentsubscribestoobjectsofspecifiedtypes
• Agentisac2vatedwhenobjectoftherighttypeisposted
BB
DB
IBB
BB
DB
IBB
BB
DB
IBB
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speech recognition
“pick up the green ball”
<postal-address> ::= <name-part> <street-address><name-part> ::= <personal-part> <last-name> <opt-jr><personal-part> ::= <first-name> | <initial> "." <street-address> ::= <opt-apt-num> <house-num> <street><zip-part> ::= <town-name> "," <state-code> <ZIP-code><opt-jr-part> ::= "Sr." | "Jr." | <roman-numeral> | ""
pickup(B)
move(..)
contact
colour recognition
depth analysis
audio input
motor actions
tactile sensors
planner
natural language processing
stereocamera
stop