1. CBP 2003 Robot lecture 21 Sojourner 1996 MIT Kismet Honda Asimo 2003 NavLab (CMU) Why Study Robots now?

2. CBP 2003 Robot lecture 22 Figure from ROBOT, Moravec, Oxford, 1998, Chapter 3: Power and Presence, page 68 AI Moore’s Law - Computers and Brains

3. CBP 2003 Robot lecture 23 1.Robots are becoming commercially viable – need developers 2.Serious promise of Artificial Intelligence – needs researchers 3.Fundamental aspects : 1.Good vehicle for teaching programming … 2.Important analogy of each living being … the Self 3.Important analogy of societies … Communication Why learn to program with Robots ? N.B. we are thinking of Autonomous Robots

4. CBP 2003 Robot lecture 24

5. 5 Human Human Group Robot Robot Group

6. CBP 2003 Robot lecture 26 AffectiveCognitivePsychomotoric Human Qualities Feeling s Knowin g Emotions Acting Behavin g Thinking

7. CBP 2003 Robot lecture 27 Wander Behaviour Modules SearchLight Collision Idea is to split overal desired behaviour into a number of “modules” of program code which can run independently. These may be arranged to have priorities

8. CBP 2003 Robot lecture 28 Rod Brookes + Cogs

9. CBP 2003 Robot lecture 29 Subsumption (Brookes) Wander s Searchlight Collide s s Motors eyes bumper Behaviour ModulesCombine by subsumption Combining Behaviours

10. CBP 2003 Robot lecture 210 Motors sensors Behaviour 1 Behaviour 2 Behaviour 3 s s s (Autonomous Land Vehicle) Internalized Plans There IS a global map ! DARPA ALV

11. CBP 2003 Robot lecture 211 Braitenberg (1984), Vehicles: Experiments in Synthetic Psychology, MIT Press.

12. CBP 2003 Robot lecture 212 lamp RM LM Choice of Behaviour Braitenberg Vehicles Wander Collide SearchLight CPU Braitenberg

13. CBP 2003 Robot lecture 213 public void wander() { forever { wander_flag = true; wanderOpL = 10; wanderOpR = 10; muMonDefer(); } lamp RM LM Behaviour Routines Java Behaviour Routines public void searchlight() { forever { if(eyeLF > eyeRF) { searchlight_flag = true; searchlightOpR = ??; searchlightOpL = ??; muMonSleep(100); searchlight_flag = false; } if(eyeLF > 0) { eyeRF eyeLF Braitenberg

14. CBP 2003 Robot lecture 214 If the connections are not crossed, then it turns away from excitation – coward Ipsilateral excitation Two motors Two Dimensions

15. CBP 2003 Robot lecture 215 Uncrossed inhibitory connections (note the –sign) give ipsilateral inhibition: Turns towards the light and slows down as it gets close

16. CBP 2003 Robot lecture 216 Brood Sorting The Emergence of Intelligence Martijn Schut http://www.cs.vu.nl/~zos robot puck

17. CBP 2003 Robot lecture 217 Program the Robots explicitly to find an object take an object go back to cluster find a cluster drop an object How to do the programming ? Imagine doing the clearing up yourself ! Problem is to get one (or more) autonomous robots to clear the junk into heaps …

18. CBP 2003 Robot lecture 218 Alternative Program the robots to avoid things

19. CBP 2003 Robot lecture 219 Conclusions : Behaviour Emerges ! Intelligence in the Indivudal or Group ?

20. CBP 2003 Robot lecture 220 Messor Sancta ants 1,500 corpses 26 hours Put dead ants into graveyards by walking around bumping into them

21. CBP 2003 Robot lecture 221 Simulation Sony Dog MidSize SmallSize Humanoide Football as benchmark for AI advances Worldwide competitions since 1997 Current Leagues

22. CBP 2003 Robot lecture 222