CSCE452 Lecture8 Behavior Based Robotics Slides

Behavior-Based Robotics
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
A.I. Robotics
In traditional Artificial Intelligence robot brains are serial processing units.
task execution motor control
perception
modeling
planning
sensors
actuators
The keystone ideas behind this approach are: Representations, Reasoning, Planning Model Building (for example, geometric maps) Functional Decomposition, Hierarchical systems Symbol manipulation
Behavior-Based Robotics (Brooks, 1996)

The Behavior-Based approach states that intelligence is the result of the interaction among an asynchronous set of behaviors and the environment.
manipulate the world sensors build maps explore avoid hitting things locomote S R S S S R R R S S R actuators S R
The keystone ideas behind this approach are: Embodiment Situatedness Emergent complexity No planning
A Paradigm Shift
Artificial Intelligence Information processing Cartesian thinking
Thinking and reasoning Seat of intelligence: brain
Acting and behaving Seat of intelligence: organism Artificial Life Sensory-motor coordination Agent-centered; action based
Behavior-Based paradigm affects both software and hardware design

Ghenghis, 1985, MIT Shakey, 1970, Stanford Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press 4
Priorities for Robotics

From Brooks, 1998
A behavior
A behavior is a reaction to a stimulus stimulus BEHAVIOR response
TURN-RIGHT
Examples of behaviors
Exploration/directional behaviors (move in a general direction) heading based, wandering Goal-oriented appetitive behaviors (move towards an attractor) discrete object attractor, area attractor Aversive/protective behaviors (prevent collision) avoid stationary objects, elude moving objects (escape), aggression Path following behaviors (move on a designated path) road following, hallway navigation, stripe following Postural behaviors balance, stability Social/cooperative behaviors sharing, foraging, flocking Perceptual behaviors visual search, ocular reflexes Walking behaviors (for legged robots) gait control Manipulator-specific behaviors (for arm control) reaching, moving Gripper hand behaviors (for object acquisition) grasping [from Arkin, 1998]
A Behavioral Module (Brooks, 1986)

reset suppression
R
INPUT LINES
BEHAVIORAL MODULE
S
OUTPUT LINES
inhibition
Augmented Finite State Machine - local computation - mappable into hardware - no global clock, memory, bus - no central models
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Subsumption architecture (Brooks, 1986)

The architecture is built incrementally Start by building in lowest level of competence Validate on robot, debug, adjust, validate, adjust, Robot is immediately operational
Collision avoidance

Novel layer exploits (subsumes) earlier competence Earlier behaviors are not modified Design, test, debug, adjust, test, adjust,
navigation
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exploration
11
Methodology
Assess Agent-Environment Dynamics Partition Into Situations Create Situational Responses Import Behaviors to Robot Run Robotic Experiments Evaluate Results Done Enhance, Expand, Correct Behavioral Responses
12
Conflict resolution
Two robots must get to the opposite end of a narrow corridor.
13
Behavioral outcome
Courtesy of Applied AI Systems, Inc. Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press 14
Intelligent wheelchair
TAO1 - Courtesy of Applied AI Systems, Inc.
15
Architecture
Laboratory of Intelligent Systems http://lis.epfl.ch
16
16
Behavior coordination
In addition to Subsumption Architecture, there are a few other ways of coordinating behaviors
obstacle avoidance seek gas leak battery recharge tele-operation
Competitive methods:
priority action-selection vote-based
Behavior Coordination
Cooperative methods:
fusion
17
Priority Based (subsumption)
P E R C E P T I O N
behavior 1 behavior 2 behavior 3 behavior 4 PRIORITY-BASED
Response of behavior With highest level of subsumption
18
Action Selection (Maes, 1989)
P E R C E P T I O N
behavior 1 behavior 2 behavior 3 behavior 4 ACTION SELECTION
MAX[act(b1),act(b2), act(b3),act(b4)]
Response of behavior with highest activation level
19
Vote Based
P E R C E P T I O N
behavior 1 behavior 2 behavior 3 behavior 4
R1 R2 R3
VOTE-BASED
MAX[votes(R1), votes(R2), votes(R3)]
Response with most votes
20
Fusion
P E R C E P T I O N
behavior 1 behavior 2 behavior 3 behavior 4
R1 R2 R3 R4
BEHAVIOR FUSION
Fused (weighted) response
Often implemented as a neural network
21
MIT historical behavior-based robots
video clips
MIT Artificial Intelligence Laboratory
22
Comparison (Arkin, 1998)

Traditional Behavior-based
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Applications: entertainment
Intelligence based on behavior technology Speech and touch interaction Excellent mechanics Learning abilities (walk) AIBO family Sony Mood change Remote control Behavior sticks Picture snapshot Robot-to-robot interaction
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press 24
Applications: assistants
Coworker iRobot Helpmate Minerva CMU
obstacle avoidance internet video conference office surveillance
no magnetic tracks programmable path interactive, radio-link
stored programmable map obstacle avoidance information delivery on screen voice interaction 25
Applications: transport
Construction robot Applied AI Systems Agriculture mate Applied AI Systems Intelligent Wheelchair Applied AI Systems
color vision tracking obstacle avoidance active beamers
obstacle avoidance active beamers
vision-based navigation behavior-based control interactive navigation
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Applications: exploration
Packbot iRobot Nomad CMU Ariel iRobot
all terrain, including stairs 3 mt fall radio steering camera
mobile camera spectrometer magnetometer compass mineral sampling
underwater, crab-like motion double-sided can be fitted with sensors
27
Applications: R&D humanoids

Honda Fujitsu COG, MIT
Dream, Sony
Pino, Sony
Kismet, MIT
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Closing remarks (Brooks)

Intelligence is in the eye of the observer The world is its own best model Simplicity is a virtue
http://lis.epfl.ch/podcast
Planning is a way of avoiding figuring out what to do next Robustness in the presence of noise or failing sensors is a design goal Systems should be built incrementally No representations. No calibration. No complex computers. No high-bandwidth communication
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Behavior-Based Robotics

Behavior-Based Robotics (Brooks, 1996)

Thinking and reasoning Seat of intelligence: brain

Behavior-Based paradigm affects both software and hardware design

Priorities for Robotics

A Behavioral Module (Brooks, 1986)

Subsumption architecture (Brooks, 1986)

Subsumption architecture (Brooks, 1986)

Subsumption architecture (Brooks, 1986)

Two robots must get to the opposite end of a narrow corridor.

TAO1 - Courtesy of Applied AI Systems, Inc.

Laboratory of Intelligent Systems http://lis.epfl.ch

Priority Based (subsumption)

behavior 1 behavior 2 behavior 3 behavior 4 PRIORITY-BASED

Response of behavior With highest level of subsumption

Action Selection (Maes, 1989)

behavior 1 behavior 2 behavior 3 behavior 4 ACTION SELECTION

Response of behavior with highest activation level

behavior 1 behavior 2 behavior 3 behavior 4

MAX[votes(R1), votes(R2), votes(R3)]

Response with most votes

behavior 1 behavior 2 behavior 3 behavior 4

Fused (weighted) response

Often implemented as a neural network

MIT historical behavior-based robots

MIT Artificial Intelligence Laboratory

Comparison (Arkin, 1998)

obstacle avoidance internet video conference office surveillance

no magnetic tracks programmable path interactive, radio-link

color vision tracking obstacle avoidance active beamers

obstacle avoidance active beamers

vision-based navigation behavior-based control interactive navigation

all terrain, including stairs 3 mt fall radio steering camera

mobile camera spectrometer magnetometer compass mineral sampling

underwater, crab-like motion double-sided can be fitted with sensors

Applications: R&D humanoids

Closing remarks (Brooks)

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