Introduction To Cognitive Robots Prof. brian williams Prof. Nick roy Wednesday February 4th, 2004 Copyright B. Williams Outline Course Objectives Student Introductions and goals Example: Robots as Explorers Example: Human Robot Interaction Copyright B. Williams 16412J6834J.Fal03
Copyright B. Williams 16.412J/6.834J, Fall 03 Introduction To Cognitive Robots Prof. Brian Williams Prof. Nick Roy Wednesday, February 4th, 2004 Copyright B. Williams 16.412J/6.834J, Fall 03 Outline • Course Objectives • Student Introductions and Goals • Example: Robots as Explorers • Example: Human Robot Interaction
Course Objective 1 To understand the main types of cognitive robots and their driving requirements Robots That navigate Hallway robots, Field robots, Underwater explorers, stunt air vehicles Engineering and"Immobile robots Intelligent spaces Robust space probes Cooperating Robots Cooperative Space/Air/Land/Underwater vehicles, distributed traffic networks smart dust Accomplished by Case studies during lectures Supports course final project(Objective 4) Copyright B. Williams Immobile robots in Space Image courtesy of NASa
Copyright B. Williams 16.412J/6.834J, Fall 03 Course Objective 1 To understand the main types of cognitive robots and their driving requirements: • Robots That Navigate – Hallway robots, Field robots, Underwater explorers, stunt air vehicles • Engineering and “Immobile” Robots – Intelligent spaces – Robust space probes • Cooperating Robots – Cooperative Space/Air/Land/Underwater vehicles, distributed traffic networks, smart dust. Accomplished by: ¾ Case studies during lectures ¾ Supports course final project (Objective 4). Copyright B. Williams 16.412J/6.834J, Fall 02 Immobile Robots in Space Image courtesy of NASA
Autonomous Systems use Models to Anticipate or Detect Subtle Failures NASA Mars Habitat neLa pulse in ection valves Airlock Copyright B. Williams arable Satellite Paitent Range Finder: Navigation, obstacle avoidance, localization Motion Detector: and remote sensing Microthrust duct fan locomotion Microphone Primary Crew audio Speaker: command interface Secondary Crew courtesy NAsA Ames output audio interface Copyright B. Williams 16412J6.834J.Fall03 Image courtesy of nASA
Copyright B. Williams 16.412J/6.834J, Fall 03 Autonomous Systems use Models to Anticipate or Detect Subtle Failures 600 700 800 900 1000 1100 1200 1300 1400 400 500 600 700 800 900 1000 1100 1200 time (minutes) C O2 concentration (ppm) crew requests entry to plant growth chamber crew enters chamber lighting fault crew leaves chamber NASA Mars Habitat Airlock Plant Growth Chamber Crew Chamber CO2 tank lighting system chamber control flow regulator 2 pulse injection valves CO2 flow regulator 1 Copyright B. Williams 16.412J/6.834J, Fall 03 courtesy NASA Ames Image courtesy of NASA
Course Objective 2 To understand fundamental methods for creating the major capabilities of cognitive robots Plan World monitor Execute Navigate Diagnosis Accomplished by Lectures on core methods 3-4 problem sets to exercise basic understanding of methods Copyright B. Williams 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 Copyright B. Williams 16412J6834J.Fal03
Copyright B. Williams 16.412J/6.834J, Fall 03 Course Objective 2 • To understand fundamental methods for creating the major capabilities of cognitive robots. Accomplished by: ¾ ~ Lectures on core methods ¾ ~ 3-4 problem sets to exercise basic understanding of methods. Plan Monitor & Execute Diagnosis Locate in World Navigate Map Copyright B. Williams 16.412J/6.834J, Fall 03 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
Course Objective 3 To dive into th nt literature, and collectively synthesize, clearly explain and evaluate the state of the art in intelligent embedded systems Accomplished by Group lectures on advance topic 40 minute or 80 minute lectures >tutorial article on -2 methods, to support lectures Groups of size -2 Copyright B. Williams Course Objective 4 Plan ap Locate in World monitor Execute ligate D agnosIs To apply one or more core reasoning methods to create a simple agent that is driven by goals or rewards Accomplished by Final project during last third of co ourse Implement and demonstrate one or more reasoning methods in a simple cognitive robot scenario(simulated or hardware) Final project report Short project demonstration Copyright B. Williams 16412J6834J.Fal03
Copyright B. Williams 16.412J/6.834J, Fall 03 Course Objective 3 • To dive into the recent literature, and collectively synthesize, clearly explain and evaluate the state of the art in intelligent embedded systems. Accomplished by: ¾ Group lectures on advance topic ¾40 minute or 80 minute lectures ¾tutorial article on ~2 methods, to support lectures. ¾Groups of size ~2. Copyright B. Williams 16.412J/6.834J, Fall 03 Course Objective 4 • To apply one or more core reasoning methods to create a simple agent that is driven by Goals or Rewards Accomplished by: ¾ Final project during last third of course ¾ Implement and demonstrate one or more reasoning methods in a simple cognitive robot scenario (simulated or hardware). ¾ Final project report. ¾ Short project demonstration. Plan Monitor & Execute Diagnosis Locate in World Navigate Map
Outline Course Objectives Student Introductions and goals Example: Robots as explorers Example: Human Robot Interaction Copyright B. Williams Outline Course objectives Student Introductions and goals Example: Robots as Explorers Example: Human Robot Interaction Copyright B. Williams 16412J6834J.Fal03
Copyright B. Williams 16.412J/6.834J, Fall 03 Outline • Course Objectives • Student Introductions and Goals • Example: Robots as Explorers • Example: Human Robot Interaction Copyright B. Williams 16.412J/6.834J, Fall 03 Outline • Course Objectives • Student Introductions and Goals • Example: Robots as Explorers • Example: Human Robot Interaction
Robotic space explorers To Boldly go where no al system Has Gone Before a Story of survival 16412J/6.834J September 19, 2001 Readings and Assignment earings Remote Agent: to Boldy Go Where No Al System Has Gone Before N Muscettola, P Nayak, B. Pell and B. Williams, Artificial Intelligence 103(1998)5-47 Copyright B. Williams 16412J6834J.Fal03
Robotic Space Explorers: To Boldly Go Where No AI System Has Gone Before A Story of Survival 16.412J/6.834J September 19, 2001 Copyright B. Williams 16.412J/6.834J, Fall 03 Readings and Assignment Readings: • Remote Agent: to Boldy Go Where No AI System Has Gone Before, N.Muscettola, P. Nayak, B. Pell and B. Williams, Artificial Intelligence 103 (1998) 5-47
Outline Motivation Model-based autonomous systems Remote Agent Example Copyright B. Williams Our vision in NASa is to open the Space Frontier.We must establish a virtual presence, in space, on planets, in aircraft and spacecraft Daniel S Goldin, NASA Administrator, May 29, 1996 Europa Cryobot& Hydrobot
Copyright B. Williams 16.412J/6.834J, Fall 03 Outline • Motivation • Model-based autonomous systems • Remote Agent Example Cryobot & Hydrobot courtesy JPL Europa ``Our vision in NASA is to open the Space Frontier . . . We must establish a virtual presence, in space, on planets, in aircraft and spacecraft.’’ - Daniel S. Goldin, NASA Administrator, May 29, 1996
courtesy Distributed Spacecraft Interferometers search for earth-like planets around other stars Miscommanded Mars climate Orbiter Clementine courtesy ofJPL Spacecraft should watch out for their own survival opyright B. williams 16412J6834J.Fal03
courtesy JPL Distributed Spacecraft Interferometers Distributed Spacecraft Interferometers search for Earth search for Earth-like Planets Around Other Stars like Planets Around Other Stars Copyright B. Williams 16.412J/6.834J, Fall 03 Miscommanded: • Mars Climate Orbiter • Clementine courtesy of JPL Spacecraft should watch out for their own survival
A Capable Robotic Explorer: Cassini 7 year cruise Faster, Better. Cheaper 150300 ground operators I billion S ·150 million$ 7 years to build year build 0 ground ops Cassini Maps Titan courtesy JPL courtesy.i Mars Pathfinder and sojourner
Cassini Maps Titan courtesy JPL • 7 year cruise • ~ 150 - 300 ground operators •~ 1 billion $ • 7 years to build A Capable Robotic Explorer: Cassini •150 million $ •2 year build • 0 ground ops Faster, Better, Cheaper courtesy JPL Mars Pathfinder and Sojourner Mars Pathfinder and Sojourner