Autonomous Intelligent Mobile Robotics

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Autonomous Intelligent Mobile Robotics

• Jerry Weinberg
• Associate Professor
• Computer Science

What is a Robot?
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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.

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Humans vs. Robots
People Robots
Bones Mechanical Structure
Muscles Effectors
Senses Sensors
Digestion/Respiration AC/DC Power
Brain Computer
Knowledge Program
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Robot Body LEGO Pieces
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LEGO Mindstorm RCX
3 Output or Motor Ports (A, B, C) 3 Input or
Sensor Prots (1, 2, 3) IR Transmitter/Reciever
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Programming Your Bot
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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

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Where are the Robots?

• Industrial Robots

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Where are the Robots?

• Service Robots

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Where are the Robots?

• Exploration

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Where are the Robots?

• Medicine

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Where are the Robots?

• Consumer Robots

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Why Study Robotics?

• Integrated Systems Engineering
• Mechanical Engineering
• Electrical Engineering
• Computer Science

Continental's electronic stability system
analyzes data from many sensors. When the sensors
indicate a driver is losing control, the system
steadies the vehicle by braking one or more
wheels or by slowing down the engine.
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Why Study Robotics?

• Real-time Systems

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Why Study Robotics?

• Multitasking

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Spectrum of Robot Control
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Reactive/Behavior-Based Robot Control

• Ignores world models
• The world is its own best model

Sense
Act
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Situated Activity Design

• Robot actions are based on the situations in
  which it finds itself
• Perception characterized by recognizing what
  situations it is in and choosing an appropriate
  action

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Finite State Machine
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The Game
RoboCraft
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Finding Inspiration

• Constructopedia
• Nature
• Web
• www.legomindstorms.com
• www.lugnet.com/robotics/rcx
• roboti.cs.siue.edu