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Autonomous Systems 2008- © Pedro Lima, Isabel Ribeiro Introduction

AUTONOMOUS SYSTEMS

Pedro Lima, M. Isabel Ribeiro Instituto Superior Técnico/Instituto de Sistemas e Robótica

September 2008

Course Handouts All rights reserved

INTRODUCTION


Autonomous Systems

What is an Autonomous System?

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Autonomous Systems

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AUTONOMY

From Greek αυτονοµία autonomia,

noun of quality from αυτόνοµος autonomos “independent, living by one’s own laws”,

from αυτο auto- “self” + νόµος nomos “custom, law”.

In Wikipedia


Autonomous Systems

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SYSTEM

From late Latin systēma, from Ancient Greek σύστηµα (sustēma), “‘organised whole, body’”),

from σύν (sun), “‘with, together’”) + ἵστηµι (histēmi), “‘I stand’”).

A collection of organized things. A way of organizing or planning. A whole composed of relationships among the members.

In Wikipedia


Autonomous Systems

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AUTONOMOUS SYSTEM

A collection of organized things, composed of relationships among them, and capable of living independently by its own laws


Autonomous Systems

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AUTONOMOUS AGENT

An agent is anything that can be viewed as perceiving its environment through sensors and acting upon that environment through effectors (Russel & Norvig, 1995).

Jennings and Wooldridge have three key concepts for an agent:

•  situatedness, •  autonomy, •  flexibility

Autonomous Systems 2008- © Pedro Lima, Isabel Ribeiro Introduction 7

AUTONOMOUS AGENT (Jennings & Wooldridge, 1998)

Agent is a computer system, situated in some environment, receiving sensory inputs from its environment and performing actions which change the environment in some way. An autonomous agent should be capable of flexible autonomous action in order to meet its design objectives. •  Flexibility includes that the agent responds to changes it perceives in the environment, takes the initiative where appropriate and is social with other artificial agents and humans. •  Autonomy means that the agent should be able to act without the direct intervention of humans or other agents and that it should have control over its own actions and internal state.

Autonomous Systems


AUTONOMOUS AGENTS

•  should be able to learn from experience •  should be able to interact and even cooperate with other autonomous agents •  should have means of handling the uncertainty associated to its sensor inputs and the effects of its actions over a surrounding , possibly dynamic, environment •  should have means to take rational decisions, leading to some goal

Autonomous Systems


Autonomous Systems

AUTONOMOUS ROBOTS

Autonomous robots are robots (embodied situated agents) which can perform desired tasks in unstructured environments without continuous human guidance. Many kinds of robots have some degree of autonomy. Different robots can be autonomous in different ways.

In Wikipedia


Autonomous Systems

AUTONOMOUS ROBOTS have the ability to

•  Gain information about the environment. •  Work for an extended period without human intervention. •  Move either all or part of itself throughout its operating environment without human assistance. •  Avoid situations that are harmful to people, property, or itself. •  An autonomous robot may also learn or gain new capabilities like adjusting strategies for accomplishing its task(s) or adapting to changing surroundings.

In Wikipedia


•  Examples of Autonomous Systems

–  Autonomous Mobile Robots (individuals or teams) –  Mobile and Static Sensor Networks –  Intelligent Homes –  Autonomous Cars –  Satellites –  Spacecraft –  Software agents

•  Information search •  Computer viruses

– Humans, other animals!

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Autonomous Systems


1995

1950

1970-2

1977

1997

1989

1997

1998

1992

1993 2002

2001

2003

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Autonomous Mobile Robots – Historical Evolution


Anubis - Ancient Egyptian god of the dead, represented as a jackal or as a man with the head of a jackal. In the Early Dynastic period and the Old Kingdom he was preeminent as lord of the dead, but he was later overshadowed by Osiris. Anubis was associated with the care of the dead and was credited with the invention of embalming, an art he first practiced on the corpse of Osiris. Later assigned the role of conducting souls into the underworld, he was sometimes identified in the Greco-Roman world with Hermes.

Karel Capek - He is most famous for coining of the word ``robot'', from the Czech robota, work, in his play (Rossum's Universal Robots –RUR) about them taking over the world. The play used to be extremely popular and well-known.

R.U.R. (Rossum's Universal Robots), which introduced the word robot into the English language, conceives a future in which all workers will be automated. Their ultimate revolt when they acquire souls and the ensuing cotastrophe comprise an exciting, vivid theatrical experience

See http://www.agora.qc.ca/reftext.nsf/Documents/Robot--Le_regne_des_robots_par_Karel_Capek

for an explanation of RUR.

http://www.plazaearth.com/usr/gasperi/walter.htm

The RUR robot which appeared in an adaption of Czech author Karel Capek's Rossum's Universal Robots. Circa 1930s.

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http://www.plazaearth.com/usr/gasperi/walter.htm

Elsie

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Shakey (Stanford University) it was the first mobile robot to be controlled by vision

Shakey was set simple tasks to solve: •  To recognize an object using vision •  Find its way to the object •  Perfom some action on the object (for example, to push it over)

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Stanford Cart

In development since 1967, the Stanford Cart successfully crossed a chair-filled room without human intervention in 1979.

The "Stanford Cart" and SRI's "Shakey" were the first mobile robots controlled by computers (room-sized, radio linked). Both saw with TV cameras. The Cart followed smudgy white lines seen from a high vantage point in variable illumination quite reliably using adaptation and prediction methods far more complex than Elsie's or the Beast's.

Hans Moravec rebuilt the Stanford Cart in 1977, equipping it with stereo vision. A television camera, mounted on a rail on the top of the cart, took pictures from several different angles and relayed them to a computer. The computer gauged the distance between the cart and obstacles in its path.

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The Hilare Family LAAS - France

1977 - Hilare I

Wheels: 2 driving wheels and a free wheel Batteries: 24V Bus: Multibus Processors: 4 x Intel 80286 Operating system: none Communication: serial radio modem (9600 bauds) Sensors: Odometer, 16 US sensors, a Laser Range Finder Dimensions (LxWxH): 80cm x 80cm x 60 cm Weight: 400kg

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Wheels: 2 driving wheels + 4 free wheels Batteries: 48V Bus: VME Processors: 4 x Motorola 68040 + 1 Motorola PPC 750 Operating system: VxWorks 5.3.1 Communication: Ethernet radio modem (3 Mbit/s) Sensors: odometry, 32 Sonar range sensors, 2D Laser Range Finder, 1 Pan/Tilt/Zoom color camera, 2 Pan/Tilt black and white cameras Dimensions (LxWxH): 130cm x 80cm x 80cm Weight: 450kg

1990 - Hilare II

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Wheels: 2 driving wheels + 4 free wheels Batteries: 48V Bus: 1 VME Rack Processors: 4 x Motorola 68040 + 1 Motorola PPC 604 Operating system: VxWorks 5.3.1 Communication: Ethernet radio modem (3 Mbit/s) Sensors: odometry, 32 Sonar range sensors, 2D Laser Range Finder, 1B&W camera Dimensions (LxWxH): 130cm x 80cm x 80cm Weight: 400kg

1992 - Hilare IIbis

http://www.laas.fr/laasve/index.htm

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http://www.ai.mit.edu/projects/genghis/genghis.html

Ghenghis Legged Robot

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Dante II

The CMU Field Robotics Center (FRC) developed Dante II, a tethered walking robot, which explored the Mt. Spurr (Aleutian Range, Alaska) volcano in July 1994.

High-temperature, fumaroles gas samples are prized by volcanic science, yet their sampling poses significant challenge. In 1993, eight volcanologists were killed in two separate events while sampling and monitoring volcanoes. The use of robotic explorers, such as Dante II, opens a new era in field techniques by enabling scientists to remotely conduct research and exploration.

Using its tether cable anchored at the crater rim, Dante II is able to descend down sheer crater walls in a rappelling-like manner to gather and analyze high temperature gasses from the crater floor. In addition to contributing to volcanic science, a primary objective of the Dante II program is to demonstrate robotic exploration of extreme (i.e., harsh, barren, steep) terrains such as those found on planetary surfaces.

•  legged robot – 8 legs •  Exploration at Antartic and Alaska •  The first robot to use rapell •  Communication channel based on optical fiber to

a base station and then to a satelite station •  Colour images, laser and cameras on the legs •  Gas sensors •  Computers on VME bus (Sparc and MC68000)

http://www.ri.cmu.edu/projects/project_163.html

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http://www.ai.mit.edu/people/brooks/projects.shtml

Cog MIT (USA) – Rodney Brooks – Protothype of a humanoid robot.

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NASA JPL Rovers Planetary Robotics

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http://marsrovers.jpl.nasa.gov/home/


Mars rovers: Spirit and Opportunity

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In Mars since 2004



AGV, Efacec – Fábrica de Transformadores LGV, Soporcel – Fábrica de Papel

Autonomous Mobile Robots – Examples


Wheelesley-cadeira de rodas robotizada Helpmate

Aspirador Roomba

Robot Alice, EPFL, Suíça ATRV-Jr



Shrimp, EPFL, Suíça

PackBot, iRobot, EUA

RAPOSA, ISR/IST + IdMind, Portugal



Robots for Non-Land Environments

Infante – ISR/IST, Portugal

Passarola, ISR/IST, Portugal

Helicopter

AIR

UNDERWATER OCEAN

Delfim – ISR/IST, Portugal



QRIO, Sony ASIMO, Honda

P3, Honda

AIBO, Sony

PARO, Japão



Historical Evolution Present, Near Future

Reconfigurable Robots

Small-Micro Robots

EPFL, Zurich

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Robot Collectives (e.g., Swarms)


Historical Evolution Present, Near Future

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Robotic Assistant/ Cognitive humanoids

•  Bio-inspired •  Cognitive Systems •  Antropomorphic •  Robotics and

Neurosciences

BALTAZAR, ISR/IST , Portugal iCub, FP6 RobotCub project


–  Support to medical services – SERVICE ROBOTS •  Transportation of food, medication, medical exams, •  Automation of pharmacy service

–  Automatic cleaning of (large) areas •  Supermarkets, airports, industrial sites •  Glass cleaning •  Domestic vacuum-cleaner

–  Client support •  Museum tours, exhibitions guides

–  Agricultural •  Fruit and vegetable picking, fertilization, planting

–  Forests •  Cleaning, fire preventing, tree cuting

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Autonomous Robots - Applications


•  Hazard Environments –  Inspection of hazard environments (catastrofic areas, vulcanos, nuclear

power plants, oil tanks) –  Inspection of gas or oil pipes, and power transmission lines –  Oil tank cleaning

•  Construction and demolishing •  Space

–  Space exploration –  Remote inspection of space stations

•  Military –  Surveilance vehicles –  Monitoring vehicles

•  Forests –  Cleaning, fire preventing, tree cuting

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•  Material Handling –  AGVs, SGVs, LGVs

•  Safety –  Surveillance of large areas, buildings, airports, car parking lots

•  Civil Transportation –  Inspection of airplanes, trains,

•  Elderly and Handicapped –  Assistance to handicapped or elderly people, helping in

tansportation, health care, •  Entertainment

–  RobotDog –  Aibo – Robot dog from Sony –  Telepresence

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Robot Networks

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Robot Networks – Soccer Robots


Spacecraft Formations

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Static + Mobile Sensor Networks

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distributed sensors

(cameras)

Robot assistants (cognitive,

social) networked personal assistants

ubiquitous comms

Static + Mobile Sensor Networks


Home Sensor Networks


EC FP6 URUS (Ubiquitous Networking Robotics in Urban Settings) Project

Robots + Sensors in Urban Scenarios


•  Environment mapping and monitoring •  Spatial exploration •  Surveillance •  Search and rescue •  Intelligent homes •  Intelligent clothes •  Helping people in urban spaces …

Static + Mobile Sensor Networks - Applications


Autonomous Systems – New Challenges

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•  Growing robots, inspired in humans cognition •  Bio-inspired robot collectives •  Robot societies using social sciences concepts …


Components of an Autonomous System

Classical cycle: SENSING – PROCESSING - ACTING

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