Introduction to AI Robotics (MIT Pres s) Chapter 1 1 1 From Teleoperation to Autonomy • Define Intelligent Robot • Be able to describe at least two differences between AI and engineering approaches to robotics • Be able to describe the difference between telepresence and semi-autonomous control • Have some feel for the history and societal impact of robotics istory AI Engineering eleop Motivation Components Problems Alternatives ase Studies rogramming ummary eview
From Teleoperation to Autonomy. Define Intelligent Robot Be able to describe at least two differences between AI and engineering approaches to robotics Be able to describe the difference between telepresence and semi-autonomous control - PowerPoint PPT Presentation
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Introduction to AI Robotics (MIT Press) Chapter 1 1
1 From Teleoperation to Autonomy• Define Intelligent Robot
• Be able to describe at least two differences between AI and engineering approaches to robotics
• Be able to describe the difference between telepresence and semi-autonomous control
• Have some feel for the history and societal impact of robotics
Introduction to AI Robotics (MIT Press) Chapter 1 13
1 3 Ways of Controlling a Robot• semi- or full autonomy
– you might control the robot sometimes– you can only view the environment through the robot’s eyes– ex. Sojouner with different modes– human doesn’t have to do everything
Introduction to AI Robotics (MIT Press) Chapter 1 28
1 Collaborative Teleoperation
Urban is stuck, Inuktun can’t help from current perspective
1. Driven off 3rd floor2. Hoisted to 2nd floor by tether3. Has better view, changing
configuration & rocking extend view
mpg: June 2, 2000 SRDR Miami Beach: view from Inuktun as it falls mpg: June 2, 2000 SRDR Miami Beach: view from Inuktun from hoisted position
1
2
3
still: June 2, 2000 SRDR Miami Beach
Introduction to AI Robotics (MIT Press) Chapter 1 29
1 2000 AAAI Mobile Robot
• 2 robots helping each other reduced collision errors, sped up time navigating confined space, righting
HistoryTeleopCase StudiesProgrammingSummaryReview
Introduction to AI Robotics (MIT Press) Chapter 1 30
1 Example:Mixed-Initiative & Collab. Teleop
• 9/2000 DARPA Tactical Mobile Robots demonstration
• Robot used an intelligent assistant agent to look for signs of snipers hiding in urban rubble
– motion– skin color – difference in color– thermal (IR camera)
• Human navigated mother robot using viewpoint of 2nd robot (not in picture)
• Once deposited the human moved the daughter robot, and either saw a sniper or was alerted by the agent
HistoryTeleopCase StudiesProgrammingSummaryReview
Introduction to AI Robotics (MIT Press) Chapter 1 31
1 AI provides the “other stuff”• knowledge representation• understanding natural langugage• learning• planning and problem solving• inference• search• vision
HistoryTeleopCase StudiesProgrammingSummaryReview
Introduction to AI Robotics (MIT Press) Chapter 1 32
1 Example User Expectation of AI • Proposed Goal: 1:1 soldier:any robot, where 1 soldier is
responsible for 1 or more active robots but does not have to pay continuous attention to them.
4 specialists:1 vehicle
1 specialist:1 vehicle
1 specialist:1 modality 1 specialist 1 soldier
1 specialist:n vehicles
MAV-UGVcooperativemonitoring
Flocks of MAVs
UAVs astheater assets
MAVs asorganic
assets
Field recon-figurable
UUVs
Young Frankenstein
Introduction to AI Robotics (MIT Press) Chapter 1 33
1 More Reasonable Expectionsagents with“tactical”autonomy,toolkits
Mass-produceddedicated
agents
Field-reconfigurable
agents
Cooperating“pack” or “herd”
agents
Vehicle success isstill based on human,but robot is “in front”
Human intermittentattention as teamcoordinator, notwith individuals
Human primaryresponsibility as a
tool builder, expertadvisor. Peer-level
communication
Consolidation
Dedicated Autonomy Systems
Reconfigurable AutonomySystems
HistoryTeleopCase StudiesProgrammingSummaryReview
Introduction to AI Robotics (MIT Press) Chapter 1 34
1 Programming Notes• You always need telesystem or human intervention as a
backup – at some point a human will need to take control– embed in your design
• “Roboticists automate what is easy and leave the rest to the human”- Don Norman
• The user interface is absolutely critical– User interface make up 60% of commercial code– Useful= is the program purpose useful?
• usually given to designer via specifications and requirements– Usable= can a human use it efficiently?
• designer must conduct usability studies • avoid “if I can use it, some one else will”
HistoryTeleopCase StudiesProgrammingSummaryReview
Introduction to AI Robotics (MIT Press) Chapter 1 35
1 Example of How an “Internal” Display Can Hurt
• gamer joystick plus laptop with video & audio• robot state: battery, comms, orientation, camera, encoders• was not used on rubble pile at WTC because it scared off rescuers: too complicated, too long to boot, too
toy– now integrated with Land Warrior– used in Afghanistan
iRobot PackBotvideo, FLIR, 2 way audio
HistoryTeleopCase StudiesProgrammingSummaryReview
Introduction to AI Robotics (MIT Press) Chapter 1 36
1 Summary• Teleoperation arose a partial solution to
autonomy– cognitive fatigue, high comms bandwidth, long
delays, and many:one human to robot ratios– Telepresence tries to reduce cognitive fatigue
through enhanced immersive environments– Semi-autonomy tries to reduce fatigue, bandwidth by
delegating portions of the task to robot• mixed-initiative
• Teleop isn’t simple and improvements aren’t just “better user interfaces”
HistoryTeleopCase StudiesProgrammingSummaryReview
Introduction to AI Robotics (MIT Press) Chapter 1 37
1 Review Questions• What is an intelligent robot?• What is the difference between engineering and AI
robotics?• What are 3 types of control?• What are the parts of a telesystem?• What are problems with teleoperation?• What’s the difference between telepresence and semi-
autonomous control?• What are the levels of initiative (mixed-initiative)?• What are alternatives to traditional teleoperation?