1. CMRoboBits: Creating an Intelligent AIBO Robot Instructors: Prof. Manuela Veloso & Scott Lenser TAs: Douglas Vail & Nick Aiwazian Further Support: Dr. Paul Rybski, Sonia Chernova 15-491, Fall 2003 http://www.andrew.cmu.edu/course/15-491 Computer Science Department Carnegie Mellon

2. Why This New Course? Our robot soccer experience – Long: since 1996 – Diversified: simulation, small-size, Sony 4-legged – Hard work, frustration, fun, struggle, success – A LOT learned on: Creating teams of complete intelligent robots.

3. Legged Robots Remarkable hardware - SONY AIBO robots

4. Intelligent Complete Robot Action Actuators Perception External World Sensors Cognition

5. Autonomy Perception – sensing, modeling of the world Cognition – behaviors, action selection, planning, learning – multi-robot coordination, teamwork – response to opponent, multi-agent learning Action – motion, navigation, obstacle avoidance

6. Perception: Vision Real-time and robust Effective calibration Colored blobs identified as objects Confidence computed

7. Cognition: Behaviors ScoreSearch Approach Recover not see ball next to ball not see ball timeout see ballnot next to ball

8. Action: Motion Four-legged walking Head motion Turning, kicking

9. What is This New Course? Beyond robot soccer CMRoboBits: – From CMPack, break into modular robot “bits” – Learn the CMRoboBits within a concrete robot AIBO – Commercially available to the public since June’02 – Robust hardware, modular software

10. The Syllabus Sensors Basic behaviors Motion Vision Localization Complex behaviors Multi-robot behaviors

11. The Evaluation Weekly homeworks – hands-on lab work with the AIBO robots – some also include written questions One final project Homeworks: 75% Final project: 25% Groups of 2 or 3 students: each student in the group must be fully responsible for each homework

12. Resources and Readings Readings and videos are available at: http://www.cs.cmu.edu/~coral http://www.cs.cmu.edu/~coral AIBOs are being used widely in RoboCup: http://www.robocup.org http://www.robocup.org The OpenR Web page has a lot of information: http://openr.aibo.com http://openr.aibo.com Tekkotsu is a serious effort to build an API for the AIBOs: http://www.cs.cmu.edu/~tekkotsuhttp://www.cs.cmu.edu/~tekkotsu