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lecture29 - Articial Intelligence Mobile Robotics Nilsson -...

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Mobile Robotics; page 1 of 29 Artificial Intelligence Mobile Robotics Nilsson - briefly mentioned in Chapter 2 Russell and Norvig - Chapter 25
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Mobile Robotics; page 2 of 29 mobile robots sensors: - odometer - sonar sensor - laser sensor - compass - global positioning system - . .. actuators: - motors - holonomic vs. nonholonomic - degrees of freedom
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Mobile Robotics; page 3 of 29 mobile robots Robots need to solve a variety of tasks, often in parallel. move around obstacles localize (find out where you are) map (find out how the terrain looks like) stop if people step in front of the robot cover terrain (e.g. vacuum cleaning) plan paths monitor the energy level recharge follow a planned path decide which package to pick up next Consider, for example, a utility robot. coordinate with other robots (vaccum cleaning robot, mail delivery robot) and many more. recognize packages
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Mobile Robotics; page 4 of 29 Environment act sense agents state goal state or performance measure planner maintain state
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Mobile Robotics; page 5 of 29 - how to maintain lots of code? - how to get started fast and incrementally extend the system? - how to be able to react sufficiently fast? - how to avoid getting lost in data? robot architectures architecture = a description of how a system is constructed from basic components and how those components fit together as a whole
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Mobile Robotics; page 6 of 29 sensor data motor commands sense-plan-act perception modelling task execution motor control planning “function” maintain state fast reactions: - global state: + state is not in sync with the world: -
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Mobile Robotics; page 7 of 29 subsumption architecture sensor data motor commands “behaviors” avoid objects
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This note was uploaded on 02/14/2010 for the course CSCI 561 taught by Professor Staff during the Fall '08 term at USC.

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lecture29 - Articial Intelligence Mobile Robotics Nilsson -...

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