Introduction To Cognitive Robots: Prof. Brian Williams

Introduction To Cognitive Robots
Prof. Brian Williams Wednesday, February 2nd, 2004
Copyright B. Williams
16.412J/6.834J, Fall 02
Outline
Examples of Robots as Explorers Course Objectives Student Introductions and Goals Introduction to Model-based Programming
16.412J/6.834J, Fall 02
Course Objective 1
To understand the main types of cognitive robots and their driving requirements: Immobile Robots and Engineering Operations
Robust space probes, ubiquitous computing
Robots That Navigate

Hallway robots, Field robots, Underwater explorers, stunt air vehicles
Cooperating Robots
Cooperative Space/Air/Land/Underwater vehicles, distributed traffic networks, smart dust.
Accomplished by: Case studies, invited lectures & final projects.

Copyright B. Williams 16.412J/6.834J, Fall 02
Immobile Robots in Space

Copyright B. Williams courtesy NASA Ames
16.412J/6.834J, Fall 02
Autonomous Systems use Models to Anticipate or Detect Subtle Failures
1200 CO2 concentration (ppm) 1100 1000 900 800
crew requests entry to plant growth chamber
NASA Mars Habitat

lighting system pulse injection valves
crew enters chamber

700 600 500
lighting fault
crew leaves chamber
Crew Chamber
Airlock
Plant Growth Chamber

400
flow regulator 1
CO2
CO2 tank
600
700
800
900
1000 1100 time (minutes)
1200
1300
1400
flow regulator 2
chamber control
16.412J/6.834J, Fall 02
The Role of Robots in Human Exploration
16.412J/6.834J, Fall 02
Robonaut: Robotic Assistance For Orbital Assembly and Repair
16.412J/6.834J, Fall 02
Outline
16.412J/6.834J, Fall 02
Course Objective 2
To understand advanced methods for creating highly capable cognitive robots.
Localize in World Interpret Scenes Plan Activities Monitor & Diagnosis Manage Dialogue Execute & Adapt Map and Explore Navigation & Manipulation Manipulation
Accomplished by: Lectures on advanced core methods ~ Implement & empirically compare two core methods.
Lectures: Planning and Acting Robustly

Monitoring, and Diagnosis Diagnosing Multiple Faults Constraint-based Monitoring Hybrid Monitoring and Estimation Planning Missions Planning using Informed Search Planning with Time and Resources Robust Plan Execution Through Dynamic Scheduling Reactive Planning and Execution
Plan Activities Monitor & Diagnosis

Execute & Adapt

16.412J/6.834J, Fall 02
Lectures: Interacting With The World

Simultaneous Localization and Mapping Basic SLAM Vision-based SLAM Cognitive Vision Visual Interpretation using Probabilistic Grammars Context-based Vision Localize in World Interpret Scenes Manage Dialogue
Navigation & Manipulation Probabilistic Path Planning Exploring Unknown Environments Human - Robot Interaction Discourse Management & Nursebot Social Robotics Navigation & Manipulation Manipulation Map and Explore
16.412J/6.834J, Fall 02
Lectures: Fast, Large-scale Reasoning

Optimality and Soft Constraints Optimal CSPs and Conflict-Learning Valued CSPs and Dynamic Programming Solving CSPS through Tree Decomposition Incremental Methods Incremental Satisfiability Incremental Scheduling Incremental Path Planning
Any-Time Enumeration Incremental Reasoning

Symbolic State Space Encodings Structural Decomposition

16.412J/6.834J, Fall 02
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 the recent literature, and collectively synthesize, clearly explain and evaluate the state of the art in cognitive robotics. Accomplished by: Group lectures on advance topic
One 40 minute lecture per student tutorial article on ~2 methods, to support lectures. Groups of size ~2.
16.412J/6.834J, Fall 02
Course Objective 4
To apply one or more core reasoning methods to create a simple agent that is driven by goals or rewards Localize in World Interpret Scenes Plan Activities Monitor & Diagnosis Manage Dialogue Execute & Adapt Map and Explore Navigation & Manipulation Manipulation
Accomplished by: Final project during half of course

Implement and demonstrate one or more reasoning methods in a simple cognitive robot scenario (simulated or hardware). Final project report. Short project demonstration.
Outline
16.412J/6.834J, Fall 02

Introduction To Cognitive Robots: Prof. Brian Williams

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Introduction To Cognitive Robots

Prof. Brian Williams Wednesday, February 2nd, 2004

Robots That Navigate

Accomplished by: Case studies, invited lectures & final projects.

Immobile Robots in Space

Copyright B. Williams courtesy NASA Ames

Autonomous Systems use Models to Anticipate or Detect Subtle Failures

1200 CO2 concentration (ppm) 1100 1000 900 800

crew requests entry to plant growth chamber

NASA Mars Habitat

crew enters chamber

crew leaves chamber

Plant Growth Chamber

1000 1100 time (minutes)

The Role of Robots in Human Exploration

Robonaut: Robotic Assistance For Orbital Assembly and Repair

Lectures: Planning and Acting Robustly

Plan Activities Monitor & Diagnosis

Execute & Adapt

Lectures: Interacting With The World

Lectures: Fast, Large-scale Reasoning

Any-Time Enumeration Incremental Reasoning

Symbolic State Space Encodings Structural Decomposition

Topics On Cognitive Robot Capabilities

Robots that Are State-Aware

Robots that Preplan For An Uncertain Future

Accomplished by: Final project during half of course

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