application of reactive robotics with subsumption architecture · subsumption architecture:...
TRANSCRIPT
![Page 1: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/1.jpg)
Application of Reactive Robotics with Subsumption Architecture
17.12.08 | Christoper Glenn Wulur | christoper.wulur@informatik 1
University of Hamburg Faculty of Mathematics, Informatics and Natural Science Department of Informatics Technical Aspects of Multimodal Systems
MIN Faculty Department of Informatics
![Page 2: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/2.jpg)
Contents1. History2. Robot Architecture
a. Sense Planning Actb. Reactive Paradigmc. Comparison
3. Subsumption Architecture4. Study Case
a. Wander Robotb. Patrol Robotc. Multi Patrol Robot
5. Summary6. Reference
2
![Page 3: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/3.jpg)
History: Shakey● First general mobile purpose robot● Invented in Late 1960s● Based on Deliberate approach (Sense-Plan-Act, SPA)● Popular until late 1980s
3
Source: [1]
![Page 4: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/4.jpg)
Sense Planning Act
4
Source: [6]
![Page 5: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/5.jpg)
Problem with SPA● Planning may take some time● Environment may have changed while planning
5
![Page 6: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/6.jpg)
Reactive Paradigm● Vertical Decomposition● Each layer has access to sensors and
actuators● One layer is independent to each other● Key Concepts:
○ Situatedness○ Embodiment○ Intelligence○ Emergence
6Source: [6]
![Page 7: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/7.jpg)
Reactive vs DeliberateReactive:
- Depends on reflexes- No internal state- World model not needed
Deliberate:
- Search through space of behaviors- Maintain Internal State
7Source: [2] Adapted. Source: [2] Adapted.
![Page 8: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/8.jpg)
Subsumption Architecture● Introduced by Rodney Brooks● Levels of Competence:
○ Composes simple reactions(behaviors) that let one to take control at an appropriate time
● A Level can subsume lower levels○ Inhibition○ Suppression
8
![Page 9: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/9.jpg)
Study Case: Wander Robot
9
Source: [4]
![Page 10: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/10.jpg)
Wander Robot: Level 0
10
Source: [6]
![Page 11: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/11.jpg)
Wander Robot: Level 1
11
Source: [6]
![Page 12: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/12.jpg)
Wander Robot: Level 2
12
Source: [6]
![Page 13: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/13.jpg)
Study Case: Patrol Robot
13
Source: [3]
![Page 14: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/14.jpg)
Patrol Robot: Layers of Competence
14
Source: [3]
![Page 15: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/15.jpg)
Study Case: Multi Patrol Robot
15
Source: [7]
![Page 16: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/16.jpg)
Multi Patrol Robots: Layers of Competence
16
Source: [7]
![Page 17: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/17.jpg)
Summary● Subsumption Architecture:
○ Reactive approach○ Layer of Competences
■ Lower layer operates without presence of higher layer■ Higher layers may subsume and inhibit behaviors in lower layers
● Advantages○ Modularized behavior○ Extendability
● Disadvantages○ No Strategic planning○ No learnability
17
![Page 18: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/18.jpg)
Thank you for your attention
Questions?
18
![Page 19: Application of Reactive Robotics with Subsumption Architecture · Subsumption Architecture: Reactive approach Layer of Competences Lower layer operates without presence of higher](https://reader033.vdocuments.net/reader033/viewer/2022052722/5f0c5b767e708231d4350042/html5/thumbnails/19.jpg)
Reference[1] B. Siciliano, Springer handbook of robotics. Berlin: Springer, 2008, pp. 189-190.
[2] D. Floreano and C. Mattiussi, Bio-inspired artificial intelligence. Cambridge, Mass.: MIT Press, 2008, pp. 407-416.
[3] M. Li, X. Yi, Y. Wang, Z. Cai and Y. Zhang, "Subsumption model implemented on ROS for mobile robots", Annual IEEE Systems Conference (SysCon), 2016.
[4] R. Brooks, "Elephants don't play chess", Robotics and Autonomous Systems, vol. 6, no. 1-2, pp. 3-15, 1990.
[5] R. Brooks, "Intelligence Without Reason", Massachusetts Institute of Technology Artificial Intelligence Laboratory, 1991.
[6] R. Murphy, Introduction to AI robotics. London: The MIT Press, 2000, pp. 105-122.
[7] Z. GUO, W. YANG, M. LI, X. YI, Z. CAI and Y. WANG, "ALLIANCE-ROS: A Software Framework on ROS for Fault-Tolerant and Cooperative Mobile Robots", Chinese Journal of Electronics, vol. 27, no. 3, pp. 467-475, 2018.
19