l1a Cogn Robotic
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Transcript of l1a Cogn Robotic
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Copyright B. Williams 16.412J/6.834J, Fall 02
Introduction To Cognitive Robots
Prof. Brian Williams
Wednesday, February 2nd, 2004
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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
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Copyright B. Williams 16.412J/6.834J, Fall 02
Course Objective 1
To understand the main types of cognitive robotsand 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:
Case studies, invited lectures & final projects.
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Immobile Robots in Space
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5/17Copyright B. Williams 16.412J/6.834J, Fall 02courtesy NASA Ames
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6/17Copyright B. Williams 16.412J/6.834J, Fall 02
Autonomous Systems use Models to
Anticipate or Detect Subtle Failures
NASA Mars Habitat
600 700 800 900 1000 1100 1200 1300 1400
400
500
600
700
800
900
1000
1100
1200
time (minutes)
CO
2concentratio
n
(ppm)
crew requests entry toplant growth chamber
crew enters chamber
lighting fault
crew leaves
chamber
Airlock Plant Growth Chamber
CrewChambe
r
CO2
tank
lighting system
chambercontrol
flow regulator 2
pulse injection valves
CO2
flow regulator 1
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7/17Copyright B. Williams 16.412J/6.834J, Fall 02
The Role of Robots in Human Exploration
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8/17Copyright B. Williams 16.412J/6.834J, Fall 02
Robonaut: Robotic Assistance For
Orbital Assembly and Repair
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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
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Copyright B. Williams 16.412J/6.834J, Fall 02
Course Objective 2
To understand advanced methods for creatinghighly capable cognitive robots.
Accomplished by:
Lectures on advanced core methods
~ Implement & empirically compare two core methods.
Plan Activities
Execute &
Adapt
Monitor &
Diagnosis
Localize
in WorldNavigation &
Manipulation
Map and Explore
Interpret
ScenesManipulation
Manage Dialogue
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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 andExecution
Plan Activities
Execute &
Adapt
Monitor &
Diagnosis
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Copyright B. Williams 16.412J/6.834J, Fall 02
Lectures: Interacting With The World
Simultaneous Localization and
Mapping
Basic SLAM
Vision-based SLAM
Cognitive Vision
Visual Interpretation usingProbabilistic Grammars
Context-based Vision
Navigation & Manipulation
Probabilistic Path Planning
Exploring Unknown
Environments
Human - Robot Interaction
Discourse Management &Nursebot
Social Robotics
Localize
in WorldNavigation &
Manipulation
Interpret
ScenesManipulation
Map and ExploreManage Dialogue
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Copyright B. Williams 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
EnumerationSymbolic State
Space EncodingsIncremental
Reasoning Structural
Decomposition
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Copyright B. Williams 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
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Copyright B. Williams 16.412J/6.834J, Fall 02
Course Objective 3
To dive into the recent literature, and collectivelysynthesize, clearly explain and evaluate the state
of the art in cognitive robotics.
Accomplished by:Group lectures on advance topic
One 40 minute lecture per student
tutorial article on ~2 methods, to support lectures.Groups of size ~2.
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Copyright B. Williams 16.412J/6.834J, Fall 02
Course Objective 4
To apply one or more core reasoning methods to create asimple agent that is driven by goals or rewards
Accomplished by: Final project during half of course Implement and demonstrate one or more reasoning methods in a
simple cognitive robot scenario (simulated or hardware).
Final project report. Short project demonstration.
Plan Activities
Execute &
Adapt
Monitor &
Diagnosis
Localizein World Navigation &Manipulation
Map and Explore
InterpretScenes Manipulation
Manage Dialogue
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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