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Advanced Topics in Robotics CS 790 (X)

Advanced Topics in Robotics CS 790 (X) . Lecture 1 Instructor: Monica Nicolescu. General Information. Instructor: Dr. Monica Nicolescu E-mail: monica@cse.unr.edu Office hours: Monday 11am-noon Monday and Wednesday 3:45-4:45pm Room: SEM 239 Class webpage:

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Advanced Topics in Robotics CS 790 (X)

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  1. Advanced Topics in Robotics CS 790 (X) Lecture 1 Instructor: Monica Nicolescu

  2. General Information • Instructor: Dr. Monica Nicolescu • E-mail: monica@cse.unr.edu • Office hours: Monday 11am-noon Monday and Wednesday 3:45-4:45pm • Room: SEM 239 • Class webpage: • http://www.cse.unr.edu/~monica/Courses/CS790X/ • Time and place • Thursday: 2:30-3:45pm SEM 201 CS 790(X) - Lecture 1

  3. What will we Learn? • Cover fundamental aspects of robotics • Control architectures • Sensing and perception • Advanced robotics techniques • Robot learning by demonstration • Navigation and mapping • Multiple robot systems: coordination and cooperation • Human-robot interaction • Biologically inspired robotics • Hands-on experience CS 790(X) - Lecture 1

  4. Readings and Presentations • Two papers (on average) discussed at each lecture • Each paper is presented by a student • For some lectures we will have one background reading • Presentation guidelines (papers) • At most 30 minutes • Briefly summarize the paper • Discuss the paper, its strengths, weaknesses, any points needing clarification • Addressing any questions the other students may have • Presentation guidelines (background reading) • At most 45 minutes • Area challenges, existing approaches, case studies CS 790(X) - Lecture 1

  5. Readings and Paper Reports • For each paper, all students must submit, at the beginning of the class a brief report of the paper • Report format (typed) • Student's name • Title and authors of the paper • A short paragraph summarizing the contributions of the paper • A critique of the paper that addresses the strengths and weaknesses of the paper • Summary of background reading if applicable • Area challenges, existing approaches, case studies CS 790(X) - Lecture 1

  6. Project • Individual project on topics covered in class • Project topics: an implementation of either: • a single robot system (involving complex behavior and demonstrated on a physical robot) or • a multi-robot system (involving cooperation/ communication/ coordination between robots and demonstrated in simulation or on a physical robot) CS 790(X) - Lecture 1

  7. Project/Lab Testbeds • The Robot Operating System (http://www.ros.org/wiki/) • ROS provides libraries and tools to create robot applications • ROS provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management • Stage is a ROS-compatible high-fidelity indoor multi-robot simulation testbed • Allows for direct porting to ROS-compatible physical robots CS 790(X) - Lecture 1

  8. Project/Lab Testbeds • 11 ActivMedia Pioneer 3 DX • sonar sensors, laser, PTZ camera, onboard computer • One Player-compatible ActivMedia Pioneer 1 AT robot • 7 sonar sensors and requires the use of a laptop (not provided) • 10 Robosapien robots • On-board CPU • 10 Create robots • 1.2 GHz CPU CS 790(X) - Lecture 1

  9. Project Report • Should include the following: • Title, author • Abstract • Introduction and motivation • Review of relevant literature • Problem definition: project goals, assumptions, constraints, and evaluation criteria • Details of proposed approach • Results and objective experimental evaluation • Discussion (strengths and weaknesses) and conclusion • References • Appendix (relevant code or algorithms) CS 790(X) - Lecture 1

  10. Class Policy • Grading • Paper reports: 20% • Paper presentations: 20% • Participation in class discussions: 20% • Final project: 40% • Late submissions • No late submissions will be accepted • Attendance • Full participation in class discussions and labs CS 790(X) - Lecture 1

  11. Important Dates/Milestones • February 24 • Project topic proposal and presentation (5 slides) • One page that outlines the specific goals, contribution, implementation platform and the proposed approach • After Feb 24 (see calendar) • Review of relevant literature (# slides - flexible) • Review of literature relevant to the project topics CS 790(X) - Lecture 1

  12. Important Dates/Milestones • April 21 • Project status presentations (3-5 slides) • 5 minute in-class presentation • Partial report that describes the current status of the project • Abstract, introduction and motivation, problem definition (goals, constraints, etc.), what has been done, what is still to be done CS 790(X) - Lecture 1

  13. Important Dates/Milestones • May 14 • Project final presentations  • Project final demonstrations • Project final reports due CS 790(X) - Lecture 1

  14. Research Progress CS 790(X) - Lecture 1

  15. Optional Textbooks • Basic topics • The Robotics Primer, 2007. Author: Maja Mataric' • Advanced topics • Behavior-Based Robotics, 2001Author: Ron Arkin • Available at the library • Broad topics • Springer Handbook of Robotics, 2008 • Siciliano, Bruno; Khatib, Oussama, editors CS 790(X) - Lecture 1

  16. Where do Robots Come From? • The term robot comes from “robota” (subordinate work) • Karel Capek’s 1921 play RUR (Rossum’s Universal Robots) • Robotics grew out of the fields of control theory, cyberneticsandAI • 1940s: first explorations of the connection between human intelligence and machines, around the time of cybernetics • 1960s:early robots are built, benefitting from two technologies numerical control machines for precise manufacturing, and teleoperators for remote radioactive material handling Robotics = the science and technology of robots CS 790(X) - Lecture 1

  17. A Brief History of Robotics • 1970s: industrial robots, became essential components in the automation of flexible manufacturing systems, due to development of integrated circuits, digital computers and miniaturized components • General industry: metal products, the chemical, the electronics and the food industries • Early AI had a strong impact on how it evolved (1950s-1970s), emphasizing reasoning and abstraction, removal from direct situatedness and embodiment • 1980s: robotics was defined as the science which studies the intelligent connection between perception and action CS 790(X) - Lecture 1

  18. A Brief History of Robotics • 1990s:the need to use robots in hazardous environments (field robotics), or to enhance the human operator ability (human augmentation), or to improving the quality of life (service robotics). • 2000:from industrial robotics to challenges of the human world (human-centeredandlife-like robotics) • Need for a higher degree of autonomy! • Wide range of applications • biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks CS 790(X) - Lecture 1

  19. What is in a Robot? • Sensors • Effectors and actuators • Used for locomotion and manipulation • Controllers for the above systems • Coordinating information from sensors with commands for the robot’s actuators CS 790(X) - Lecture 1

  20. Challenges of Robot Control • Perception • Limited, noisy sensors, diversity of sensors • Actuation • Limited capabilities of robot effectors • Thinking • Time consuming, different time scales for response, real-time demands, everything happens concurrently and asynchronously • Environments • Dynamic, impose fast reaction times • Lots of architectures exists • No single architecture is best for all applications CS 790(X) - Lecture 1

  21. Robot Architectures • Robot control is the means by which the sensing and action of a robot are coordinated • Robot architectures • Structure: how the system is divided into subsystems and how they interact • Style: computational concepts • Common feature of architectures • Modular decomposition of systems into simpler, independent pieces  increase reliability and decrease complexity • Software tools • Help development in a particular architectural style (specialized languages, communication libraries) CS 790(X) - Lecture 1

  22. Spectrum of robot control From “Behavior-Based Robotics” by R. Arkin, MIT Press, 1998 CS 790(X) - Lecture 1

  23. Robot control approaches • Reactive Control • Don’t think, (re)act. • Deliberative (Planner-based) Control • Think hard, act later. • Hybrid Control • Think and act separately & concurrently. • Behavior-Based Control (BBC) • Think the way you act. CS 790(X) - Lecture 1

  24. W. Grey Walter’s Tortoise • Machina Speculatrix” (1953) • 1 photocell, 1 bump sensor, 1 motor, 3 wheels, 1 battery • Behaviors: • seek light • head toward moderate light • back from bright light • turn and push • recharge battery • Uses reactive control, with behavior prioritization http://www.youtube.com/watch?v=lLULRlmXkKo CS 790(X) - Lecture 1

  25. Background Readings • M. Matarić: Chapters 1, 3 CS 790(X) - Lecture 1

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