CS325 Artificial Intelligence Robotics I Autonomous Robots (Ch. 25)
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1 CS325 Artificial Intelligence Robotics I Autonomous Robots (Ch. 25) Dr. Cengiz Günay, Emory Univ. Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
2 Robots As Killers? The word robot coined by Czech writers Capek bros Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
3 Robots As Killers? The word robot coined by Czech writers Capek bros Isaac Asimov developed the concept of robotics and three laws: Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
4 Robots As Killers? The word robot coined by Czech writers Capek bros Isaac Asimov developed the concept of robotics and three laws: 1 A robot may not injure or cause indirect harm to a human. Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
5 Robots As Killers? The word robot coined by Czech writers Capek bros Isaac Asimov developed the concept of robotics and three laws: 1 A robot may not injure or cause indirect harm to a human. 2 It must obey orders except when in conflict with law #1. Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
6 Robots As Killers? The word robot coined by Czech writers Capek bros Isaac Asimov developed the concept of robotics and three laws: 1 A robot may not injure or cause indirect harm to a human. 2 It must obey orders except when in conflict with law #1. 3 It must stay alive as long as not in conflict with laws #1 and #2. Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
7 Robots As Killers? The word robot coined by Czech writers Capek bros Isaac Asimov developed the concept of robotics and three laws: 1 A robot may not injure or cause indirect harm to a human. 2 It must obey orders except when in conflict with law #1. 3 It must stay alive as long as not in conflict with laws #1 and #2. Fiction always liked to depict robots taking over Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
8 ... Or As Helpers? In reality, first we need to make the robots Dr. Thrun says we will soon Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
9 ... Or As Helpers? In reality, first we need to make the robots Dr. Thrun says we will soon They can help with? Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
10 ... Or As Helpers? In reality, first we need to make the robots Dr. Thrun says we will soon They can help with? Disabled people Children Risky tasks Mundane tasks Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
11 ... Or As Helpers? In reality, first we need to make the robots Dr. Thrun says we will soon They can help with? Disabled people Children Risky tasks Mundane tasks We ll focus on the the self-driving car in two lectures Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
12 Entry/Exit Surveys Exit survey: Computer Vision III Structure from Motion What additional piece of information an SfM algorithm needs when the objects in the scene also moves? What parameters an SfM algorithm cannot recover? Entry survey: Robotics I Autonomous Robots (0.25 pts) What methods that we have previously seen in this class would be involved in robotics? Name a useful task that you think would be possible to assign to robots. Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
13 Self-Driving Cars and DARPA Challenge Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
14 Self-Driving Cars and DARPA Challenge 1st DARPA challenge was a failure: cars completed at most 5%. Undergrads like you made Stanley win! Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
15 Urban Challenge Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
16 Urban Challenge Google car self-drove 100,000 miles already! We will focus on machine learning, particle filters, and planning. Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
17 Robot as an Agent Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
18 Robot as an Agent Is it: 1 Part.-observable? 2 Stochastic? 3 Adversarial? 4 Continuous? 5 Single/Multi? Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
19 Robot as an Agent Is it: 1 Part.-observable 2 Stochastic 3 Adversarial? 4 Continuous 5 Single/Multi? Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
20 Perception to Estimate Internal State: Kinematic Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
21 Perception to Estimate Internal State: Kinematic Kinematic state: Where in the world are we?? Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
22 Perception to Estimate Internal State: Kinematic Roomba is cleaning a room: Kinematic state: Where in the world are we?? Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
23 Perception to Estimate Internal State: Kinematic Roomba is cleaning a room: Kinematic state: Where in the world are we?? How many dimensions we need for kinematic state? Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
24 Perception to Estimate Internal State: Kinematic Roomba is cleaning a room: Kinematic state: Where in the world are we?? How many dimensions we need for kinematic state? x, y Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
25 Perception to Estimate Internal State: Kinematic Roomba is cleaning a room: Kinematic state: Where in the world are we?? How many dimensions we need for kinematic state? Total: 3 x, y, heading angle Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
26 Perception to Estimate Internal State: Kinematic How about for Junior? Kinematic state: Where in the world are we?? How many dimensions we need for kinematic state? Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
27 Perception to Estimate Internal State: Kinematic How about for Junior? Kinematic state: Where in the world are we?? How many dimensions we need for kinematic state? Total: 3 SAME: x, y, heading angle Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
28 Including Movement: Dynamic State Kinematic state: Where in the world are we?? Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
29 Including Movement: Dynamic State Kinematic state: Where in the world are we?? Junior: Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
30 Including Movement: Dynamic State Kinematic state: Where in the world are we?? Junior: Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
31 Including Movement: Dynamic State Kinematic state: Where in the world are we?? Junior: Dynamic state: Where are you going?? Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
32 Including Movement: Dynamic State Kinematic state: Where in the world are we?? Junior: Dynamic state: Where are you going?? (also includes the kinematic state). Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
33 Including Movement: Dynamic State Kinematic state: Where in the world are we?? Junior: Dynamic state: Where are you going?? (also includes the kinematic state). How many dimensions in dynamic state of Junior? Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
34 Including Movement: Dynamic State Kinematic state: Where in the world are we?? Junior: Dynamic state: Where are you going?? (also includes the kinematic state). How many dimensions in dynamic state of Junior? 3 from kinematic forward velocity, v yaw rate: turning angle Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
35 Including Movement: Dynamic State Kinematic state: Where in the world are we?? Junior: Dynamic state: Where are you going?? (also includes the kinematic state). How many dimensions in dynamic state of Junior? Total: 5 3 from kinematic forward velocity, v yaw rate: turning angle Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
36 More Dimensions: Flying Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
37 More Dimensions: Flying More quadcopter videos: Aggressive Maneuvers I: State estimation Aggressive Maneuvers II: Hoops! Aggressive Maneuvers III: Trajectory planning Fails! Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
38 Kinematic & Dynamic State of Copters? Quadcopters: Dimensions in kinematic state? Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
39 Kinematic & Dynamic State of Copters? Quadcopters: Dimensions in kinematic state? 3D location: x, y, z Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
40 Kinematic & Dynamic State of Copters? Quadcopters: Dimensions in kinematic state? 3D location: x, y, z 3D angles: heading, incline, roll Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
41 Kinematic & Dynamic State of Copters? Quadcopters: Dimensions in kinematic state? 3D location: x, y, z 3D angles: heading, incline, roll Total: 6 Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
42 Kinematic & Dynamic State of Copters? Quadcopters: Dimensions in dynamic state? Dimensions in kinematic state? 3D location: x, y, z 3D angles: heading, incline, roll Total: 6 Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
43 Kinematic & Dynamic State of Copters? Quadcopters: Dimensions in dynamic state? 6 from kinematic Dimensions in kinematic state? 3D location: x, y, z 3D angles: heading, incline, roll Total: 6 Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
44 Kinematic & Dynamic State of Copters? Quadcopters: Dimensions in dynamic state? 6 from kinematic 3 for each dimensional velocity Dimensions in kinematic state? 3D location: x, y, z 3D angles: heading, incline, roll Total: 6 Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
45 Kinematic & Dynamic State of Copters? Quadcopters: Dimensions in dynamic state? 6 from kinematic 3 for each dimensional velocity 3 for each angular velocity Dimensions in kinematic state? 3D location: x, y, z 3D angles: heading, incline, roll Total: 6 Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
46 Kinematic & Dynamic State of Copters? Quadcopters: Dimensions in dynamic state? 6 from kinematic 3 for each dimensional velocity Total: 12 3 for each angular velocity Dimensions in kinematic state? 3D location: x, y, z 3D angles: heading, incline, roll Total: 6 Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
47 Kinematic & Dynamic State of Copters? Quadcopters: Dimensions in kinematic state? 3D location: x, y, z 3D angles: heading, incline, roll Total: 6 Dimensions in dynamic state? 6 from kinematic 3 for each dimensional velocity Total: 12 3 for each angular velocity Unlike a car, this can go in all directions! Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
48 Kinematic & Dynamic State of Jointed Robots Honda s Asimo: a humanoid bipedal robot Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
49 Kinematic & Dynamic State of Jointed Robots Robotic arm: Honda s Asimo: a humanoid bipedal robot Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
50 Kinematic & Dynamic State of Jointed Robots Robotic arm: Honda s Asimo: a humanoid bipedal robot Kinematic dimensions: Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
51 Kinematic & Dynamic State of Jointed Robots Robotic arm: Honda s Asimo: a humanoid bipedal robot Kinematic dimensions: 6? Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
52 Kinematic & Dynamic State of Jointed Robots Robotic arm: Honda s Asimo: a humanoid bipedal robot Kinematic dimensions: 6? base angles (2) joint angles (2) arm rotation (1), grab (1) Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
53 Kinematic & Dynamic State of Jointed Robots Robotic arm: Honda s Asimo: a humanoid bipedal robot Kinematic dimensions: 6? base angles (2) joint angles (2) arm rotation (1), grab (1) Dynamic dimensions? Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
54 Kinematic & Dynamic State of Jointed Robots Robotic arm: Honda s Asimo: a humanoid bipedal robot Kinematic dimensions: 6? base angles (2) joint angles (2) arm rotation (1), grab (1) Dynamic dimensions? 2 6 Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
55 Localization Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
56 Monte Carlo Localization: Particle Filter Roomba: Kinematic state variables: x, y: location θ: heading angle Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
57 Monte Carlo Localization: Particle Filter Roomba: Kinematic state variables: x, y: location θ: heading angle Dynamic state variables: v: forward velocity w: angular velocity (yaw) Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
58 Monte Carlo Localization: Particle Filter Roomba: Each particle: x y θ estimation and pre- Remember: diction? Kinematic state variables: x, y: location θ: heading angle Dynamic state variables: v: forward velocity w: angular velocity (yaw) Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
59 Monte Carlo Localization: Particle Filter Roomba: Each particle: x y θ Kinematic state variables: x, y: location θ: heading angle Dynamic state variables: v: forward velocity w: angular velocity (yaw) Remember: estimation and prediction? State estimation after t: x = x + Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
60 Monte Carlo Localization: Particle Filter Roomba: Each particle: x y θ Kinematic state variables: x, y: location θ: heading angle Dynamic state variables: v: forward velocity w: angular velocity (yaw) Remember: estimation and prediction? State estimation after t: x = x + t v cos θ Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
61 Monte Carlo Localization: Particle Filter Roomba: Each particle: x y θ Kinematic state variables: x, y: location θ: heading angle Dynamic state variables: v: forward velocity w: angular velocity (yaw) Remember: estimation and prediction? State estimation after t: x = x + t v cos θ y = y + t v sin θ Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
62 Monte Carlo Localization: Particle Filter Roomba: Each particle: x y θ Kinematic state variables: x, y: location θ: heading angle Dynamic state variables: v: forward velocity w: angular velocity (yaw) Remember: estimation and prediction? State estimation after t: x = x + t v cos θ y = y + t v sin θ θ = θ + t w Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
63 Monte Carlo Localization: Particle Filter Roomba: Each particle: x y θ Kinematic state variables: x, y: location θ: heading angle Dynamic state variables: v: forward velocity w: angular velocity (yaw) Remember: estimation and prediction? State estimation after t: x = x + t v cos θ y = y + t v sin θ θ = θ + t w 1st approx., but works well. Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
64 Localization Question Roomba: State estimation after t: x = x + t v cos θ y = y + t v sin θ θ = θ + t w Kinematic state variables: x, y: location θ: heading angle Dynamic state variables: v: forward velocity w: angular velocity (yaw) Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
65 Localization Question Roomba: State estimation after t: x = x + t v cos θ y = y + t v sin θ θ = θ + t w Kinematic state variables: x, y: location θ: heading angle Dynamic state variables: v: forward velocity w: angular velocity (yaw) Initial state: x = 24, y = 18, θ = 0 v = 5/sec, w = π 8 sec Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
66 Localization Question Roomba: State estimation after t: Kinematic state variables: x, y: location θ: heading angle Dynamic state variables: v: forward velocity w: angular velocity (yaw) x = x + t v cos θ y = y + t v sin θ θ = θ + t w Initial state: x = 24, y = 18, θ = 0 v = 5/sec, w = π 8 sec Estimate after t = 1 sec? Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
67 Localization Question Roomba: State estimation after t: Kinematic state variables: x, y: location θ: heading angle Dynamic state variables: v: forward velocity w: angular velocity (yaw) x = x + t v cos θ y = y + t v sin θ θ = θ + t w Initial state: x = 24, y = 18, θ = 0 v = 5/sec, w = π 8 sec Estimate after t = 1 sec? x = = 29 y = = 18 θ = π 8 = π 8 Günay Robotics I Autonomous Robots (Ch. 25) Spring / 15
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