CS 4630: Intelligent Robotics and Perception Planning (Chapter 2) Instructor: Tucker Balch Wonderful to be here! This is work led by me in collaboration with my graduate students at CMU I am going to focus on work begun over the last year that I plan to continue in the future General -- collaborations

The Hierarchical Paradigm World Model Planner Sensors Actuators The Environment Tucker Balch BORG Lab CS 4630

Hierarchical Architectures What is a robot architecture? A method of implementing a paradigm, of embodying the principles in some concrete way. Example hierarchical architectures Nested Hierarchical Controller RCS Tucker Balch BORG Lab CS 4630

Nested Hierarchical Controller (Meystel) Mission Planner Goal World Model Navigator Path Pilot Turn/Drive Low Level Controller Sensors The Environment Tucker Balch BORG Lab CS 4630

NHS Interleaves planning and acting (unlike Strips) Revises plan if new information comes available Disadvantage Only appropriate for navigation tasks Decomposition is specific to navigation Tucker Balch BORG Lab CS 4630

Real-time Control System (Albus) Sense Model/Plan Act Time scale The Environment Tucker Balch BORG Lab CS 4630

Difficulties with Planning/Hierarchical Architectures Closed world assumption: The world model contains everything the robot needs to know Even if closed world assumption is true Models are huge Hard to maintain Poor or no handling of uncertainty and failure Tucker Balch BORG Lab CS 4630

The Frame Problem How to maintain the world model? Tucker Balch BORG Lab CS 4630

Assignments Chapter 3 by Friday Tucker Balch BORG Lab CS 4630