1. CS 8803L: Autonomous Multirobot Systems Tucker Balch The BORG Lab www.cc.gatech.edu/~tucker

2. Class Resources n http://www.cc.gatech.edu/~tucker/cours es/amrs n The BORG Lab –Get badge n Email list –amrs@robocup.biglist.com –responsible for contents

3. Grading n Programming Projects: 30% n Class presentation(s): 20% n Mid-term Exam: 10% n Final Project: 30% n Final Exam: 10%

4. Grading n A: 90-100 n B: 80-89 n C: 70-79 n D: 60-69 n F: 0-59 n reserve the right to lower these numbers

5. Course Objectives n Know what it takes to make a robust autonomous multi-robot team work: –Sense/Think/Act n Understand the important, approaches, research issues and challenges in autonomous robotics. n Know how to program an autonomous robot team.

6. How we’re going to do it n Read –Text “Robot Teams.” –Optional text “Behavior Based Robotics” –Supplementary papers. n Program: –Simulated robots –Real robots n Talk & think in class

7. “Intelligent” Robotics n Sense/Think/Act n “AI” view –“get the computer (robot) to do things that, for now, people are better at” –Symbol systems’ hypothesis – intelligence is concerned with the machinery of manipulating symbols n “Reactive” view –“elephants don’t play chess” Chess is easy – moving around is hard

8. What Can Robots Be Used For? n Manufacturing n 3 Ds –Dirty –Dull –Dangerous n Space –Satellites, probes, planetary landers, rovers n Military n Agriculture n Construction n Entertainment n Consumer?

9. History of Intelligent Robotics n 1940s –First remote manipulators for hazardous substances n 1950s –Industrial manipulators: “reprogrammable and multi- functional mechanism designed to move materials, parts, tools…” –Closed loop control

10. History Continued n 1955 – term “AI” coined n 1960s manufacturing robots –Automatic guided vehicles (AGVs) –Precision, repeatability –Emphasis on mechanical aspects n 1970s –Planetary landers –Machine vision research expands n 1980s –Black factory –First intelligent autonomous robots: Shakey, Stanford Cart, etc

11. History Continued n 1990s –Symbolic AI/Robotics stalls –Reactive/Behavior-based robotics emerges n 2000s –?

12. Teleoperation n Human controls robot remotely –Hazardous materials –Search and rescue –Some planetary rovers n Considerations –Feedback (video, tactile, smell?) –User interfaces (cognitive fatigue, nausea) –Time/distance

13. Telepresence n Remote embodiment (VR) n Considerations –Greater sensor feedback –High bandwidth

14. Semi-autonomous Control n “Supervisory” control n Fusion of human commands and autonomous control n Delegate some aspects to computer n Easier to do in the short term –Can be “trusted” –Predator (first robot to fire a weapon in combat)

15. Homework n Get book n Download and run TeamBots –www.teambots.orgwww.teambots.org –Get SoccerBots demo running