3.Hierarchical

3.Hierarchical - 2 The Hierarchical Paradigm The...

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Unformatted text preview: 2 The Hierarchical Paradigm The Hierarchical Paradigm 2 The Hierarchical Paradigm The Hierarchical Paradigm y Describe the Hierarchical Paradigm in terms of the 3 robot primitives and its organization of sensing y Name and evaluate one representative Hierarchical architecture in y Name and evaluate one representative Hierarchical architecture in terms of: support for modularity, niche targetability, ease of portability to other domains, robustness y Solve a simple navigation problem using STRIPS (hint: work through Sec. 2.2.2) y Understand precondition, closed world assumption, open world, frame problem problem y List two advantages and disadvantages of the Hierarchical Paradigm Introduction to AI Robotics (MIT Press) Chapter 2: The Hierarchical Paradigm 1 2 Hierarchica Hierarchica 2 Hierarchical Hierarchical SENSE PLAN ACT y Under this model, the Robot senses the world plans te action and then acts world, plans te action and then acts, sense, plan, act,etc y The sensed data is place into a global world model Introduction to AI Robotics (MIT Press) Chapter 1 2 y Used between 1967-90 2 Robotic Input Output Primitives SENSE Sensor Data Sensed information PLAN Information (sensed and/or cognitive Directives and/or cognitive) ACT Sensed information or directives Actuator commands Introduction to AI Robotics (MIT Press) Chapter 1 3 2 Robot Architecture Robot Architecture 2 Robot Architecture Robot Architecture y Determine the Paradigm that is best y Determine the Paradigm that is best suited for your task y Definition – 1 an architecture provides a y Definition 1. an architecture provides a principled way of organizing a control t system y 2. an architecture describes a set of architectural components and how they interact. Introduction to AI Robotics (MIT Press) Chapter 1 4 interact. 2 Organization Organization 2 Organization Organization PLAN SENSE ACT World model: 1. A priori rep 2. Sensed info 3. Cognitive Introduction to AI Robotics (MIT Press) Chapter 2: The Hierarchical Paradigm 5 2 Shakey Shakey 2 Shakey Shakey y First AI robot y Built by SRI (Stanford Research Institute) for DARPA 1967-9 y Used Strips as main algorithm for controlling what to do Introduction to AI Robotics (MIT Press) Chapter 2: The Hierarchical Paradigm 6 2 Strips: Mean Strips: Mean ends analysi ends analysi 2 Strips: Means Strips: Means-ends analysis ends analysis “Go to Stanford AI Lab” INITIAL STATE Tampa Florida 0 0 INITIAL STATE: Tampa, Florida (0,0) GOAL STATE: Stanford, California (1000,200) Difference: 1020 miles Introduction to AI Robotics (MIT Press) Chapter 2: The Hierarchical Paradigm 7 2 Difference Tabl Difference Tabl 2 Difference Table Difference Table Distance mode of transportation d>=200 miles FLY (difference) (OPERATOR) 100<d<200 TRAIN d<=100 DRIVE d<1 WALK mode=difference table(INITIAL STATE GOAL STATE difference mode=difference_table(INITIAL STATE, GOAL STATE, difference) 1. Look up what to do: FLY 2. Not at SAIL, so repeat Introduction to AI Robotics (MIT Press) Chapter 2: The Hierarchical Paradigm 8 3. Look up what to do: DRIVE 2...
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3.Hierarchical - 2 The Hierarchical Paradigm The...

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