Environment 20 a windshield wiper agent contd goals

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Environment ?
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20 A Windshield Wiper Agent (Cont’d) Goals: To keep windshields clean and maintain good visibility Percepts: Raining, Dirty Sensors: Camera (moist sensor) Effectors: Wipers (left, right, back) Actions: Off, Slow, Medium, Fast Environment: US inner city, freeways, highways, weather …
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21 Towards Autonomous Vehicles
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22 Interacting Agents Collision Avoidance Agent (CAA) Goals: Avoid running into obstacles Percepts ? Sensors? Effectors ? Actions ? Environment: Freeway Lane Keeping Agent (LKA) Goals: Stay in current lane Percepts ? Sensors? Effectors ? Actions ? Environment: Freeway
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23 Interacting Agents Collision Avoidance Agent (CAA) Goals: Avoid running into obstacles Percepts: Obstacle distance, velocity, trajectory Sensors: Vision, proximity sensing Effectors: Steering Wheel, Accelerator, Brakes, Horn, Headlights Actions: Steer, speed up, brake, blow horn, signal (headlights) Environment:  Freeway  Lane Keeping Agent (LKA) Goals: Stay in current lane Percepts: Lane center, lane boundaries Sensors: Vision Effectors: Steering Wheel, Accelerator, Brakes Actions: Steer, speed up, brake Environment:  Freeway
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24 Conflict Resolution by Action Selection Agents Override:  CAA overrides LKA Arbitrate:  if  Obstacle is Close then  CAA else  LKA Compromise:   Choose action that satisfies both agents Any combination of the above Challenges: Doing the right thing
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25 The Right Thing = The Rational Action Rational Action:  The action that maximizes the expected value of  the performance measure given the percept sequence to date Rational = Best ? Rational = Optimal ? Rational = Omniscience ?  Rational = Clairvoyant ? Rational = Successful ?
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26 The Right Thing = The Rational Action Rational Action:  The action that maximizes the expected value  of the performance measure given the percept sequence to date Rational = Best Yes, to the best of its knowledge Rational = Optimal   Yes, to the best of its abilities (incl. its  constraints) Rational   Omniscience  Rational   Clairvoyant  Rational   Successful 
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27 Behavior and performance of IAs Perception  (sequence) to  Action   Mapping:   P    A Ideal mapping:  specifies which actions an agent ought to take at any  point in time Description:  Look-Up-Table vs. Closed Form  Performance measure:  subjective   measure   to characterize how  successful an agent is (e.g., speed, power usage, accuracy,  money, etc.)    (degree of)  Autonomy:  to what extent is the agent able to make  decisions and actions on its own?
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28 How is an Agent different from other software?
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