1. Autonomous Intelligent Mobile Robotics
Jerry Weinberg
Associate Professor
&
Andrew Lamonica
Computer Science
What is a Robot?

2. Robots are Computers with a Body
A mobile robot is a computer with wheels (or legs or treads or other)

3. What is An Intelligent Robot?
A machine able to extract information from its environment and use knowledge about its world to move safely in a meaningful manner

4. Humans vs. Robots People Robots Bones Mechanical Structure Muscles
Effectors
Senses
Sensors
Digestion/Respiration
AC/DC Power
Brain
Computer
Knowledge
Program

5. Teleoperation vs. Autonomous

6. 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

7. Where are the Robots?
Industrial Robots

8. Where are the Robots?
Service Robots

9. Where are the Robots?
Exploration

10. Where are the Robots?
Consumer Robots

11. Interesting Robots

12. Interesting Robots

13. Interesting Robots

14. Dealing with the Physical World
A robot needs to be able to handle its environment or the environment must be altered and controlled.
Close World Assumption
The robot knows everything relevant
no surprises
Open World Assumption
The robot must be able to handle unexpected events.

15. Spectrum of Robot Control

16. Deliberative/Hierarchical Robot Control
Classic Robot Control
Emphasizes Planning with world models
Sense
Plan
Act

17. Reactive/Behavior-Based Robot Control
Ignores world models
“The world is its own best model”
Sense
Act

18. Finite State Machine

19. Hybrid Paradigm Combines Reactive and Deliberative Control Planner Act
Sense

20. Meet Taz The Tour Guide Robot

21. How does Taz figure out where it is?

22. How you Control Taz Control Java Applet Runs on user’s computer
Browses Robot Page
Middle Man
Stores Java Applet
Stores Website
Runs on Web Server
The Client
Runs on Robot’s Onboard PC
P2OS
Runs on Robot’s Microcomputer
Directly Controls Robot Hardware
Download
Java Applet
Send movement commands to Middle Man
Web Material
Middle Man sends commands on to client
Client sends camera feed to Middle Man
Client sends robot state info to Middle Man
Client sends safe commands to robot
P2OS sends state and location info to Client
Middle Man sends camera feed to Applet
Observe Java Applet

23. Technology and The Popular Culture A brief commentary by Jerry Weinberg, Ph.D.

24. Frankenstein: Monster or Misunderstood Victim
Frankenstein: Monster or Misunderstood Victim? The personification of unchecked technology

25. Common Movie Theme: Technology left unchecked will kill you
Common Movie Theme: Technology left unchecked will kill you! (Or at least enslave you)
Metropolis:
Technology is a Temptress

26. Variations on the Theme

27. Technology will destroy YOU!! (Even if it can’t take the stairs)
Daleks from Dr. Who

28. Technology will assimilate YOU!

29. Wrong! You Already Have Been Assimilated

30. Technology will break your heart!

31. Does popular culture effect our view of technology?
"[The Internet] hasn't made the world a better place," says Debra Walker, an organizer of the day's event. "It's just a vehicle for capitalization, a pyramid scheme. A few people have made a lot of money and the rest of us haven't and won't."
Why the Internet is "Dangerous"
The Internet is "dangerous" because it is a medium for the instantaneous and uncontrolled transmission of ideas.
Death of a game addict
Ill Hudson man took own life after long hours on Web
Elizabeth Woolley, who says her son, Shawn, was addicted to EverQuest, wants to sue the makers.

32. The Real Question
Who could kick whose butt?
                                                                   

33. Daleks vs. Borg
Winner: Daleks

34. Bad Robot of West World vs. Terminator
Winner:
Bad Robot of West World

35. Bad Terminator vs. Good Terminator
Winner:
Bad Terminator

36. The End or is it the Beginning?