1. Autonomous Intelligent Mobile Robotics Jerry Weinberg Associate Professor Ross Mead Robot Scientist Computer Science What is a Robot?

2. 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.

3. Living Autonomously An autonomous robot acts on its own decisions Robots are not directly controlled by humans –Can take input and advice from humans Robots are not teleoperated –Making them much more difficult and interesting than Battlebots

4. 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

5. Sensing the Environment Sensors allow the robot to perceive its environment to get information that allows it to make decisions –Humans have 6 senses what are they? –What sensors does a robot need?

6. Acting on the Environment Robots have effectors that allow it to change the state of the world –What are human effectors? –What effectors can robots have?

7. Achieving a Goal Achieving a goal requires intelligent decision making –Artificial Intelligence

8. LEGO Mindstorm RCX 3 Output or Motor Ports (A, B, C) 3 Input or Sensor Ports (1, 2, 3) IR Transmitter/Receiver

9. Programming Your Bot

10. Spectrum of Self-Control Teleoperation: Human Control Shared Human – Robot Control Remote-Controlled Rats Autonomous (AI) Control

11. Spectrum of AI Robot Control

12. Reactive/Behavior-Based Robot Control Ignores world models SenseAct

13. Finite State Machine

14. Finding Inspiration Constructopedia Nature Web www.legomindstorms.com www.lugnet.com/robotics/rcx roboti.cs.siue.edu