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From Teleoperation to Autonomy
Define Intelligent Robot Be able to describe at least two differences between AI and engineering approaches to robotics Be able to describe the difference between telepresence and semi-autonomous control Have some feel for the history and societal impact of robotics
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Intelligent Robot
Mechanical creature which can function autonomously
Mechanical= built, constructed Creature= think of it as an entity with its own motivation, decision making processes Function autonomously= can sense, act, maybe even reason; doesnt just do the same thing over and over like automation
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What are Robots?
Autonomous mechanical creatures
Capek 1921: R.U.R.
Intelligent because teleoperation doesnt work, doesnt scale Physically situated, but now software agents or softbots
Principles from robotics influenced AI community, esp. planning Combines programming, networks, operating systems, algorithms, everything about CS into a system (the ultimate software engineering project)
www.fradulent.org/rur.htm
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Robots Constantly in the Press
www.sony.com
courtesy of MIT AI Lab
www.irobot.com courtesy of Honda
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Less Famous Cousins at WTC
Inuktun microTracks
iRobot PackBot
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Why Robots? Dirty, Dangerous, Dull Tasks
JV2010, TRADOC, JFCOM, all branches even down to the organic level
Reconnaissance, MOUT, denial of area, consequence management, logistics, demining
www.friendlymachines.com
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Why Robots? Better Than Bio
Robots at WTC
voids smaller than person could enter voids on fire or oxygen depleted
Void:1x2.5x60
NBC Response
Lose cognitive attention with each level of protection
Level A=12.5% of normal ability
Void on fire
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Major Robot Modalities: UAV, UGV, UUV
Unmanned Aerial Vehicles
drones since Vietnam: Global Hawk, UCAV easy: nothing to hit hard: mission sensing, human-in-the-loop control
Unmanned Ground Vehicles
since 1967 easy: can always stop and think, a priori maps hard: perceiving, e.g., light vegetation vs. wall
Unmanned Underwater Vehicles
ROVs since 1960s easy: run tethers hard: platform operation in unfriendly environment
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Mobility (platform), Perception, Communications +HRI, Control (Intelligence), Power
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A Brief History
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Industrial Manipulators
Tommy type of robots: deaf, dumb, and blind High precision, fast repetition Usually no sensing of the environment
Welding can be off by an inch
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3 Ways of Controlling a Robot
RC-ing
you control the robot you can view the robot and its relationship to the environment ex. radio controlled cars, bomb robots operator isnt removed from scene, not very safe
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3 Ways of Controlling a Robot
teleoperation
you control the robot you can only view the environment through the robots eyes dont have to figure out AI
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3 Ways of Controlling a Robot
semi- or full autonomy
you might control the robot sometimes you can only view the environment through the robots eyes ex. Sojouner with different modes human doesnt have to do everything
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Local
Components of a Telesystem (after Uttal 89)
display Local control device
Remote Local Display Control Effector Power
Communication
Communication Remote
sensor mobility effector power
Sensor Mobility
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Example
Remote
Local
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Typical Run
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Problems That You Saw
no feedback, couldnt really tell that the robot was stuck but finally got free
robot doesnt have proprioception or internal sensing to tell you what the flippers were doing. No crunching noises, no pose widget to show the flippers
no localization, mapping-> no idea how far traveled partial solution: better instrumentation (but cant do dead reckoning well)
operator doesnt have an external viewpoint to show itself relative to the environment
solution: two robots, one to spot the other
communications dropout, even though ~3 meters away lighting conditions went from dark to very bright
hard for computer vision or human to adjust
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But good for unmodeled events
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Communications is Important: DarkStar+7 seconds=DarkSpot
7 second communications lag (satellite relay) interruption lag on part of operator
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Predator: ~7:1 human to robot ratio
Leos unofficial Predator page
4 people to control it (52-56 weeks of training)
one for flying two for instruments one for landing/takeoff
plus maintenance, sensor processing and routing lack of self-awareness in Kosovo, come along side in helicopter and shoot down
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Summary of Teleop Problems
cognitive fatigue communications dropout communications bandwidth communications lag too many people to run one robot (hidden cost)
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Telesystems Best Suited For:
the are tasks unstructured and not repetitive the task workspace cannot be engineered to permit the use of industrial manipulators key portions of the task require dexterous manipulation, especially hand-eye coordination, but not continuously key portions of the task require object recognition or situational awareness the needs of the display technology do not exceed the limitations of the communication link (bandwidth, time delays) the availability of trained personnel is not an issue
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Teleop Improvements: Telepresence
Telepresence
improves human control, reduces simulator sickness and cognitive fatigue by providing sensory feedback to the point that teleoperator feels they are present in robots environment increases demands on bandwidth
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Teleop Improvements: Supervisory Control
Semi-autonomous
Supervisory Control
human is involved, but routine or safe portions of the task are handled autonomously by the robot is really a type of mixed-initiative Shared Control/ Guarded Control
human initiates action, interacts with remote by adding perceptual inputs or feedback, and interrupts execution as needed robot may protect itself by not bumping into things
Traded Control
human initiates action, does not interact
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Teleop Improvements: Mixed-Initiative
Levels of Initiative do only what told to do (teleoperation) recommend or augment (cognitive augmentation) act and report act on own and supervise itself (autonomy)
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No Hands Across America
1994 CMU NavLab Pittsburgh to San Diego
2897 miles total 2849 autonomously
Autonomous or MixedInitiative?
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Mixed-Initiative Matching Game
Level of Initiative teleoperation cognitive augmentation act and report act on own Application janitorial robot medical robot (telemedicine) high flying surveillance drone combat aerial vehicle resupply system for bringing water to fire fighters guard dog robot nurse robot
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Collaborative Teleoperation
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mpg: June 2, 2000 SRDR Miami Beach: view from Inuktun as it falls
mpg: June 2, 2000 SRDR Miami Beach: view from Inuktun from hoisted position
Urban is stuck, Inuktun cant help from current perspective 1. Driven off 3rd floor 2. Hoisted to 2nd floor by tether 3. Has better view, changing configuration & rocking extend view
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2000 AAAI Mobile Robot
2 robots helping each other reduced collision errors, sped up time navigating confined space, righting
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Example: Mixed-Initiative & Collab. Teleop
9/2000 DARPA Tactical Mobile Robots demonstration Robot used an intelligent assistant agent to look for signs of snipers hiding in urban rubble
motion skin color difference in color thermal (IR camera)
Human navigated mother robot using viewpoint of 2nd robot (not in picture) Once deposited the human moved the daughter robot, and either saw a sniper or was alerted by the agent
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AI provides the other stuff
knowledge representation understanding natural langugage learning planning and problem solving inference search vision
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Young Frankenstein
Example User Expectation of AI
Proposed Goal: 1:1 soldier:any robot, where 1 soldier is responsible for 1 or more active robots but does not have to pay continuous attention to them.
4 specialists: 1 specialist: 1 specia...