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Behavior-Based Robotics
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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A.I. Robotics
The keystone ideas behind this approach are:
• Representations, Reasoning, Planning• Model Building (for example, geometric maps)• Functional Decomposition, Hierarchical systems• Symbol manipulation
sensors actuators
motor control
task executionplanningm
odelingperception
In traditional Artificial Intelligence robot brains are serial processing units.
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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Behavior-Based Robotics (Brooks, 1996)
sensors actuators
manipulate the worldbuild maps
exploreavoid hitting things
locomote
The Behavior-Based approach states that intelligence is the result of the interaction among an asynchronous set of behaviors and the environment.
The keystone ideas behind this approach are:
• Embodiment• Situatedness• Emergent complexity• No planning
S R
S R
S R
S R
S R
S R
S R
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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A Paradigm Shift
Behavior-Based paradigm affects both software and hardware design
• Thinking and reasoning Acting and behaving• Seat of intelligence: brain Seat of intelligence: organism
• Artificial Intelligence Artificial Life
• Information processing Sensory-motor coordination
• Cartesian thinking Agent-centered; action based
Shakey, 1970, Stanford
Ghenghis, 1985, MIT
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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Priorities for RoboticsFrom Brooks, 1998
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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• A behavior is a reaction to a stimulus
stimulus BEHAVIOR response
TURN-RIGHT
A behavior
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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• 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 behaviorsbalance, stability• Social/cooperative behaviorssharing, foraging, flocking• Perceptual behaviorsvisual 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]
Examples of behaviors
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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BEHAVIORALMODULE
S
I
R
INPUTLINES
OUTPUTLINES
reset
inhibition
suppression
Augmented Finite State Machine- local computation- mappable into hardware- no global clock, memory, bus- no central models
A Behavioral Module (Brooks, 1986)
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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Subsumption architecture (Brooks, 1986)
Col
lisio
n av
oida
nce
• The architecture is built incrementally• Start by building in lowest level of competence• Validate on robot, debug, adjust, validate, adjust, …• Robot is immediately operational
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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Subsumption architecture (Brooks, 1986)
navi
gatio
n• Novel layer exploits (subsumes) earlier competence• Earlier behaviors are not modified• Design, test, debug, adjust, test, adjust,…
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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Subsumption architecture (Brooks, 1986)
expl
orat
ion
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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AssessAgent-Environment
Dynamics
PartitionInto Situations
CreateSituationalResponses
Import Behaviorsto Robot
Run RoboticExperiments
EvaluateResults
Enhance,Expand,Correct
BehavioralResponses
Done
Methodology
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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Two robots must get to the opposite end of a narrow corridor.
Conflict resolution
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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Courtesy of Applied AI Systems, Inc.
Behavioral outcome
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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TAO1 - Courtesy of Applied AI Systems, Inc.
Intelligent wheelchair
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
16Laboratory of Intelligent Systems http://lis.epfl.ch
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Architecture
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Behavior Coordination
Competitive methods:priorityaction-selectionvote-based
Cooperative methods:fusion
obstacle avoidance
seek gas leak
battery recharge
tele-operation
Behavior coordinationIn addition to Subsumption Architecture, there are a few other ways of coordinating behaviors
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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behavior 1
behavior 2
behavior 3
behavior 4Response of behavior
With highest level of subsumptionPRIORITY-BASED
PERCEPTION
Priority Based (subsumption)
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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MAX[act(b1),act(b2),act(b3),act(b4)]
behavior 1
behavior 2
behavior 3
behavior 4
Response of behavior with highest activation level
ACTION SELECTION
PERCEPTION
Action Selection (Maes, 1989)
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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behavior 1
behavior 2
behavior 3
behavior 4
Response with most
votes
VOTE-BASED
PERCEPTION
R1
R2
R3
MAX[votes(R1), votes(R2),votes(R3)]
Vote Based
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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behavior 1
behavior 2
behavior 3
behavior 4
Fused(weighted)response
BEHAVIOR FUSION
PERCEPTION
R1
R2
R3
R4
Σ
Often implemented asa neural network
Fusion
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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MIT Artificial Intelligence Laboratory
video clips
MIT historical behavior-based robots
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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Comparison (Arkin, 1998)
Traditional Behavior-based
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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AIBO familySony
Intelligence based on behavior technology
Speech and touch interaction
Excellent mechanics
Learning abilities (walk)
Mood change
Remote control
Behavior sticks
Picture snapshot
Robot-to-robot interaction
Applications: entertainment
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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Helpmate
no magnetic tracksprogrammable pathinteractive, radio-link
CoworkeriRobot
obstacle avoidanceinternet video conferenceoffice surveillance
MinervaCMU
stored programmable mapobstacle avoidanceinformation delivery on screenvoice interaction
Applications: assistants
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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Construction robotApplied AI Systems
color vision trackingobstacle avoidanceactive beamers
Agriculture mateApplied AI Systems
obstacle avoidanceactive beamers
Intelligent WheelchairApplied AI Systems
vision-based navigationbehavior-based controlinteractive navigation
Applications: transport
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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NomadCMU
mobile cameraspectrometermagnetometercompassmineral sampling
PackbotiRobot
all terrain, including stairs3 mt fallradio steeringcamera
ArieliRobot
underwater, crab-like motiondouble-sidedcan be fitted with sensors
Applications: exploration
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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COG, MIT
Dream, Sony
Fujitsu
Pino, Sony Kismet, MIT
Honda
Applications: R&D humanoids
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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• Intelligence is in the eye of the observer
• The world is its own best model
• Simplicity is a virtue
• 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
Closing remarks (Brooks)
http://lis.epfl.ch/podcast
Companion slides for the book Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies by Dario Floreano and Claudio Mattiussi, MIT Press
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