Intelligent Robotics An Introduction The King’s Academy November 2, 2007

2007The King's Academy2 Basic Definitions Artificial Intelligence Artificial Intelligence  Study intelligence  Apply – design intelligent systems  Purpose – to better serve mankind

2007The King's Academy3 Basic Definitions Robot Robot  Embodied  Autonomous  Agent Intelligent robot Intelligent robot  + Intelligent

2007The King's Academy4 Embodied Situated Situated  Located in the world Sensor (receptor) Sensor (receptor)  Receive “raw” information about world Effector (actuator) Effector (actuator)  Accomplish an action » with respect to self » with respect to world  “one who brings about a result or event; one who accomplishes a purpose”

2007The King's Academy5 Autonomous Autos :: self Autos :: self Nomos :: law Nomos :: law Definition Definition  Self-governing » Note: The term cybernetics stems from the Greek Κυβερνήτης (kybernetes, steersman, governor, pilot, or rudder — the same root as government).  Independent in mind or judgment  Self-directing  Not controlled by others or outside forces

2007The King's Academy6 Agent Definition Definition  One that acts or has power/authority to act  One that represents another  Root meaning – one that acts or exerts power  Means of effecting a result Software agent (David Croft) Software agent (David Croft)David CroftDavid Croft  Delegacy – discretionary authority  Competence  Amenability – ability to adapt  Software resident

2007The King's Academy7 Intelligence Many definitions Many definitions MSN Encarta: “general mental capability to reason, solve problems, think abstractly, learn and understand new material, and profit from past experience. Intelligence can be measured by many different kinds of tasks... Intelligence draws on a variety of mental processes, including memory, learning, perception, decision-making, thinking, and reasoning.” MSN Encarta: “general mental capability to reason, solve problems, think abstractly, learn and understand new material, and profit from past experience. Intelligence can be measured by many different kinds of tasks... Intelligence draws on a variety of mental processes, including memory, learning, perception, decision-making, thinking, and reasoning.” MSN Encarta MSN Encarta Einstein: “Imagination is more important than knowledge.” Einstein: “Imagination is more important than knowledge.” Henk Tuten: “complex use of creativity” Henk Tuten: “complex use of creativity”

2007The King's Academy8 Intelligence Another view Another view Creative simplicity Creative simplicity Examples Examples  Every mileage divisible by 3000  Cutting the Gordian knot  Efficient use of cars

2007The King's Academy9 Robot “Primitives” – Murphy Sense Sense Plan Plan Act Act 4 th – Learn 4 th – Learn

2007The King's Academy10 Origin of Robot Basics Serve  Act Serve  Act Autonomous  Sense Autonomous  Sense

2007The King's Academy11 Origin of Robot Basics The most basic :: The most basic ::  Act  Sense

2007The King's Academy12 Origin of Robot Basics Serve  Act Serve  Act Autonomous  Sense Autonomous  Sense Changing environment  Plan Changing environment  Plan Plan  Reason Plan  Reason Plan  Represent knowledge Plan  Represent knowledge Knowledge  Learning Knowledge  Learning

2007The King's Academy13 Robot Basics Sense Sense Act Act Represent knowledge Represent knowledge Reason Reason Learn Learn

2007The King's Academy14 Robot Action Paradigms Deliberative Deliberative Reactive Reactive Hybrid – deliberative/reactive Hybrid – deliberative/reactive

2007The King's Academy15 Deliberative Paradigm Emphasis – knowledge representation Emphasis – knowledge representation Detailed plan generation Detailed plan generation Computationally expensive Computationally expensive Example Example  Shakey  Stanford Research Institute Frame problem Frame problem

2007The King's Academy16 Reactive Paradigm Emphasis – sense/act coupling Emphasis – sense/act coupling Knowledge resides in world Knowledge resides in world Simple animal intelligence Simple animal intelligence  Insects  Frog Example Example  Roomba  Rodney Brooks  iRobot Limited operability Limited operability

2007The King's Academy17 Hybrid Paradigm Emphasis – behavior set Emphasis – behavior set Knowledge base & reasoning Knowledge base & reasoning Action triggers Action triggers Example Example  Minerva  Sebastian Thrun  CMU & U/Bonn Limits unknown Limits unknown

2007The King's Academy18 Unexplored Possibilities Assistive robotics Assistive robotics  Physical therapy  Occupational therapy Swarm Intelligence Swarm Intelligence Autonomous vehicles Autonomous vehicles Example Example  Little Ben  Lehigh, Penn, Lockheed DARPA Grand Challenge DARPA Grand Challenge

2007The King's Academy Mile Journey Single steps Single steps  Mathematics  Computer science  Not a hoof left behind Faithful servant Faithful servant  Share Master’s joy Heads or Tails Heads or Tails  You shall be the head and not the tail