2. Maze Solving with an AIBO Bernard Maassen, Hans Kuipers, Max Waaijers & Andrew Koster 2005

3. Introduction Problem: Maze Navigation Performed Research: Theseus found his way out of the Labyrinth Using IR for Maze Navigation, CMU www.cs.cmu.edu/~tekkotsu/media/pgss_2004_paper.pdf Many competitions Many geometric algorithms for edge recognition and L-shapes Computational Geometry: Algorithms and Applications

4. Introduction Why? Many aspects, like: Vision World modeling Self localization Socially relevant: Rescue robots need to navigate maze-like environments

5. Problem Description Maze Navigation 3 Problems: Landmark detection Map construction AIBO uses map to solve maze Collision prevention/detection

6. Landmark detection Edge detection using scanlines Only look below ‘horizon’

7. Landmark detection Possible Intersections

8. Landmark detection Possible Intersections

9. Landmark detection Possible Intersections

10. Map construction On each landmark update graph Remember Type of landmark Current location Use depth first search to explore Initially simple mazes, later on more complex ones.

11. Complications Maze contains loops Need to use distances as well as type of intersection Different mazes Curves 5-way intersections Other

12. AIBO uses map to solve maze Random initial location in maze Use Bayesian filters to determine most likely location Find exit

13. Possible problems Missing landmarks Walking into walls Odometry not reliable

14. Backup plan Reinforcement learning with joystick Simpler Uses joystick to train Uses odometry data in stead of vision

15. Milestone 1 Joystick walking Already in Tekkotsu Integrate into DARPA modules Collect odometry data

16. Milestone 2a Control point if 2b is feasible If not extend Joystick module

17. Milestone 2b Landmark detection Vision module Edge detection + scanlines Distinguish intersections

18. Milestone 3 Map construction Model world as topological map Self localization Walking through the maze

19. Milestone 4 Maze Solving Find place in world Use map to find path to exit Exit maze

20. Milestones Milestone 1: 30-9 Milestone 2a: 19-10 Milestone 2b: 26-10 Milestone 3: 1-11 Milestone 4: 11-11

21. Vragen?