Autonomous Intelligent Mobile Robotics Jerry Weinberg Associate Professor Ross Mead Robot Scientist Computer Science What is a Robot?

Autonomous Intelligent Mobile Robotics

Jerry WeinbergAssociate Professor

Ross MeadRobot Scientist

Computer Science

What is a Robot?

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.

Living Autonomously

• An autonomous robot acts on its own decisions

• Robots are not directly controlled by humans– Can take input and advice from humans

• Robots are not teleoperated– Making them much more difficult and

interesting than Battlebots

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

Sensing the Environment

• Sensors allow the robot to perceive its environment to get information that allows it to make decisions– Humans have 6 senses what are they?– What sensors does a robot need?

Acting on the Environment

• Robots have effectors that allow it to change the state of the world– What are human effectors?– What effectors can robots have?

Achieving a Goal

• Achieving a goal requires intelligent decision making– Artificial Intelligence

LEGO Mindstorm RCX

3 Output or Motor Ports (A, B, C)

3 Input or Sensor Ports (1, 2, 3)

IR Transmitter/Receiver

Programming Your Bot

Spectrum of Self-Control

Teleoperation: Human Control

Shared Human – Robot Control

Remote-Controlled Rats

Autonomous (AI) Control

Spectrum of AI Robot Control

Reactive/Behavior-Based Robot Control

• Ignores world models

Sense Act

Finite State Machine

Finding Inspiration• Constructopedia• Nature• Web

www.legomindstorms.com

www.lugnet.com/robotics/rcx

roboti.cs.siue.edu