AI – Based Mobile Robotics

AI – Based Mobile Robotics AI – Based Mobile Robotics

AI – Based Mobile Robotics What is a robot ? • A machine that operates autonomously or by remote control. • A human-like with human capabilities? • The unconditional servant ? • A highly flexible machine . • The intelligent connection of perception to action. • A robot is an autonomous machine able to sense, reasoning, and act, adaptively.

AI – Based Mobile Robotics What is Sensing ? • Collect information about the world. • Sensor - an electrical/mechanical/chemical device that maps an environmental attribute to a quantitative measurement. • Each sensor is based on a transduction principle - conversion of energy from one form to another • Also known as transducers.

AI – Based Mobile Robotics Why do robots need sensors?

AI – Based Mobile Robotics Sensing for specific tasks

AI – Based Mobile Robotics Sensors Being Used up? • distance -> ultrasound, sonar, infrared • light level -> photo cells, cameras • sound level -> microphones • strain -> strain gauges • rotation -> encoders • magnetism -> compasses (PSUBOT) • smell -> chemical (fire detector) • temperature -> thermal, infra red • inclination -> inclinometers, gyroscopes • pressure -> pressure gauges

AI – Based Mobile Robotics Sensor examples Rear View Camera Camera Sonar Rings Bumpers Encoders Encoders

AI – Based Mobile Robotics Actuator examples Microphone Gripper Speaker Motors

AI – Based Mobile Robotics Formal Definition of a 'robot‘ • “ A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks. " … Robot Institute of America, 1979 • A machine able to extract information from its environment and use knowledge about its world to move safely in a meaningful and purposive manner ….Robot Industry Association • “ An automatic device that performs functions normally ascribed to humans or a machine in the form of a human. ” …Webster’s Dictionary

AI – Based Mobile Robotics Two major types of robots (i) Industrial robots - Operates in a stable deterministic environment - Normally fixed or restricted mobility -Structured factory environment • “closed world” - Operates according to a relatively simple program. (ii) Mobile robots - Operates in “the real world”. - Moves around -Unstructured world • “open world” - Requires a high degree of autonomy

AI – Based Mobile Robotics What is Robotics ? Perception Sensors “Robotics is: “the Intelligent Connection of Perception to Action” Robot Reality Actuators Action

AI – Based Mobile Robotics The Parts of a Mobile Robotics Where am I going? Where am I? Localization Cognition How do I get there? Perception Perception Real world Motion control Motion control

AI – Based Mobile Robotics What is Intelligence? • Knowledge: Information gained from text books and other reading materials... • Intelligence: (Heuristics) - That gives power to apply knowledge on a problem . - Ability to adapt one’s behaviour to fit new circumstances. - Degree of reasoning and learned behavior

AI – Based Mobile Robotics Components of intelligence • Learning • Reasoning • Problem Solving • Perception • Language understanding • Genuine understanding

AI – Based Mobile Robotics What is AI ? • AI is the Intelligence implemented in a computer system. • AI is the science and engineering of making intelligent machines which can perform tasks that require intelligence when performed by humans …” • …"nothing more" than advanced algorithms research“ • AI = search + knowledge + learning • A.I. is not practical <- -> What is practical is not A.I. • “The branch of computer science that concerned with the automation of intelligent behavior.”

AI – Based Mobile Robotics AI why being not practical? • A.I. is not practical <- -> What is practical is not A.I. • AI = search + knowledge + learning • AI != search + wisdom +learning knowledge is not practical. wisdom is practical. “it’s just like Einstein and Grahembell are counted as intelligent but Solomon and Birbal as wise”

AI – Based Mobile Robotics So, What is AI-based Mobile Robotics? It is nothing rather than … Intelligent Robots

AI – Based Mobile Robotics What is An Intelligent Robot • An autonomous system which exists in the physical world, can sense its environment, and can act on it to achieve some goals.

AI – Based Mobile Robotics Autonomous Mobile Robots have to Solve Difficult Problems • Where am I? • Localization Problem • How do I get there? • Path Finding Problem • How do I find the door? • Object Recognition Problem • What are you asking me to do? • Language Understanding Problem • How can I tell you the answer to your question? • Speech Generation Problem

AI – Based Mobile Robotics Sensing the Environment • Sensors allow the robot to perceive its environment to get information that allows it to make decisions

AI – Based Mobile Robotics Acting on the Environment • Robots have effectors that allow it to change the state of the world

AI – Based Mobile Robotics Achieving a Goal • Achieving a goal requires intelligent decision making

AI – Based Mobile Robotics Applications…

AI – Based Mobile Robotics Lawn care

AI – Based Mobile Robotics Security and Surveillance

AI – Based Mobile Robotics Research Platforms

AI – Based Mobile Robotics Entertainment

AI – Based Mobile Robotics Toys

AI – Based Mobile Robotics Marketing/Hospitality

AI – Based Mobile Robotics Exploration

AI – Based Mobile Robotics Humanoids

AI – Based Mobile Robotics Elder Assistant

AI – Based Mobile Robotics Military Robotics

AI – Based Mobile Robotics Intelligent Robot? Mechanical Engineering Electrical Engineering Computer Science

AI – Based Mobile Robotics Combining these fields we can create a system that can… SENSE PLAN ACT

AI – Based Mobile Robotics In Short: Intelligent Robot concerned with: • How will it perceive the world? • How to represent knowledge about world? • Need to understand language? • What kind of planning does it do? • What kind of problem solving does it do? • How rapidly can it search its knowledge base for answers?

AI – Based Mobile Robotics REFERENCES • Books • “Introduction to Autonomous Mobile Robots”, R Siegwart and I Nourbaksh, Bradford • “Introduction to AI Robotics”, R Murphy, Bradford • Winston P H, Artificial Intelligence (3rd Edition) Addition Wesley 1992. • Rich E Knight K, Artificial Intelligence(2nd Edition)(ISBN 0-070-522-634) • McGraw Hill 1991. • Websites http://www.bbc.co.uk/science/robots/roboteers/index.shtml http://www.cache.ucr.edu/~currie/roboadam.htm http://www.robotz.org http://www.robotics.org http://www.roboti.cs.siue.edu http://www.traclabs.com/~korten

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AI – Based Mobile Robotics

AI – Based Mobile Robotics

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