1. CPS 300 - Graduate Seminar Student Presentations

2. Mobile Robot Navigation with Neural Maps Michail G. Lagoudakis Department of Computer Science Duke University (Center for Advanced Computer Studies) (University of Southwestern Louisiana)

3. Motivation 4 Autonomous Robots –Planetary Exploration –Service Robots –Inspection Robots 4 Biologically-Inspired Robots –Animal Learning and Behavior –Neural Network Models

4. Talk Outline 4 Background –Mobile Robot Navigation –Neural Maps 4 Navigation with Neural Maps 4 The Polar Neural Map 4 Implementation on a Nomad 200 4 Results 4 Conclusions

5. Mobile Robots RWI B14RWI B21 Nomad 200Nomad 150Nomad XR4000

6. Mobile Robot Navigation 4 Global –Map-Based –Deliberative –Slow 4 Local –Sensory-Based –Reactive –Fast

7. Navigation Subproblems 4 What should I remember? Cognitive Mapping 4 Where am I? Localization 4 Where should I go? Path Planning 4 How can I go? Motion Control

8. Animal Navigation

9. Robot Navigation

10. Navigation Landscape

11. Neural Maps 4 “A localized neural representation of signals in the outer world” [Amari] 4 Hopfield-type Neural Networks 4 Topologically Ordered Units

12. Neural Map Property 4 Amplification through Self-Organization

13. Neurons 4 Non-linear Processing Units 4 Non-Linear Dynamics

14. Path Planning with Neural Maps

15. Network Topology

16. Path Planning Example 1

19. Path Planning Example 2

22. Problem? 4 Global Information?

23. A “Bad” Idea

24. A “Good” Idea

25. The Polar Neural Map 4 Represents the local space. 4 Resembles the distribution of sensory data. 4 Provides higher resolution closer to the robot. 4 Conventions: –Inner Ring: Robot Center –Outer Ring: Target Direction

26. Example

27. Example (...continued)

30. Boudreaux (Nomad 200) 4 Nonholonomic Mobile Base 4 Zero Gyro-Radius 4 Max Speeds: 24 in/sec, 60 deg/sec 4 Diameter: 21 in, Height: 31 in 4 Pentium-Based Master PC 4 Linux Operating System 4 Full Wireless 1.6 Mbps Ethernet 4 16 Sonar Ring (6 in - 255 in) 4 20 Bump Sensors

31. System Architecture

32. Results

33. Results (…continued)

38. Robot Movie Enjoy some robotic video footage!

39. Contributions 4 Neural Maps for Fast Path Planning 4 The Polar Neural Map 4 Implementation on a Real Robot 4 A Complete Local Navigation Scheme

40. Future Work 4 On-board Code Execution 4 Polar and Logarithmic Map 4 Global Navigation 4 Neural Map Self-Organization

41. More Information 4 M.Sc. Thesis, Poster –http://www.cs.duke.edu/~mgl/acadpape.html 4 IEEE ICRA ’99 Paper –Email: mgl@cs.duke.edu

42. Thank You TheEnd The End! ©1998 - CPS 300 Inc. Special thanks to The Robotics and Automation Lab at USL Prof. Anthony S. Maida Prof. Kimon P. Valavanis Prof. Bill Z. Manaris