MIT16_410F10_lec01a

MIT16_410F10_lec01a - 16.410 and 16.412: Principles of...

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1 1 16.410 and 16.412: Principles of Autonomy and Decision Making Prof Brian Williams, Prof Emilio Frazzoli and Sertac Karaman September, 8 th , 2010 1 Brian Williams, Fall 10 2 Brian Williams, Fall 10 2 Assignments ± Homework: ± Class signup, return at end of class; ± Problem Set #1: Java warm up Out Today, Due next Wednesday, September 15 th ± Reading: ± Today: [AIMA] Ch. 2, [JINS] Ch. 1-3,5 ± Monday: search [AIMA] Ch. 3 .1-4
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2 3 Outline 1. ± Trends in Computing 2. ± Examples of autonomous systems - Williams 3. ± Autonomous systems architectures 4. ± Principles = modeling + inference + search 5. ± More examples – Frazzoli 6. ± Course logistics and schedule 7. ± Projects and programming 3 Brian Williams, Fall 10 4 Human Brain ± 100 Billion neurons ± On average, connected to 1 K others ± Neurons are slow. Firing rates < 100 Hz. ± Can be classified into ± Sensory ± Motor ± Central ± (reasoning, problem solving, language. .) 4 Brian Williams, Fall 10 Images of brain activity removed due to copyright restrictions.
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3 5 Trends in Biological and Machine Evolution - Moravec ± 1 neuron = 1000 instructions/sec ± Human brain then processes 10^14 IPS ± 1 synapse = 1 byte of information ± Human brain then has 10^14 bytes of storage ± In 2000, we had10^9 IPS and 10^9 bytes on a desktop machine ± In 25 years, assuming Moore’s law we obtain human level computing power 5 Brian Williams, Fall 10 10 Outline 1. ± Trends in Computing 2. ± Examples of autonomous systems - Williams 3. ± Autonomous systems architectures 4. ± Principles = modeling + inference + search 5. ± More examples - Frazzoli 6. ± Course logistics and schedule 7. ± Projects and programming 10 Brian Williams, Fall 10
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6 11 Williams Research: Model-based Programming of Autonomous Systems Robust, mission-directed agents: 1. ± Self-repairing agents 2. ± Agents that are agile 3. ± Science explorers 11 Brian Williams, Fall 10 12 Cassini Maps Titan ± 7 year cruise ± ~ 150 - 300 ground operators ± ~ 1 billion $ ± 7 years to build 1. Self-Repairing Agents ± 150 million $ ± 2 year build ± 0 ground ops Affordable Missions © Source unknown. All rights reserved. This content is excluded from our Creative Commons license. For more information, see http://ocw.mit.edu/fairuse .
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7 13 Remote Agent on Deep Space One 1. ± Commanded by giving goals 2. ± Reasoned from commonsense models 3.
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MIT16_410F10_lec01a - 16.410 and 16.412: Principles of...

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