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Lect02 4up
Lect02 4up
Richard Williams
• Today we’ll start to look at the main problems faced by mobile robots.
• This sets up the issues we’ll consider for the first half of the course.
Department of Computer Science
University of Liverpool • We’ll also consider how these issues relate to the idea of agency.
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Autonomy Autonomy
Environment sensors
effectors
• They are teleoperated.
actions
• The notion of an agent can help us understand what this requires.
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What is an agent? What is an agent?
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α
0 1 α2 3 α α αu´1
r : e0 ÝÑ e1 ÝÑ e2 ÝÑ e3 ÝÑ ¨ ¨ ¨ ÝÑ eu
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Runs of agents Runs of agents
• When actions are deterministic each state has only one possible
successor.
• A run would look something like the following:
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North!
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Runs of agents Runs of agents
North!
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East!
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Runs of agents Runs of agents
North!
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North!
North!
North!
North!
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Runs of agents Agents
• In fact it is more complex still, because all of the runs we pictured • We can think of an agent as being a function which maps runs to
start from the same state. actions:
• Let R be the set of all such possible finite sequences (over E and Ac)
This is the set of all runs from all starting states. Ag : RE Ñ Ac
• RE is the subset of R that end with a state. • Thus an agent makes a decision about what action to perform based
• All the ones where the agent needs to make a decision. on the history of the system that it has witnessed to date.
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action : E Ñ Ac
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Purely Reactive Agents Purely Reactive Agents
North!
North! North!
West!
• A reactive agent will always do the same thing in the same state.
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Environment
next
action
actions
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Agents with state Agents with state
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percepts
see state
Environment
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A robot with state What is mobile robotics?
?
• Now the robot can take more sophisticated action.
• For example, backing up if it cannot turn away from the wall
immediately.
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General control architecture What makes it (particularly) hard
• Changing environment.
• Things change.
• Things get in the way.
• No compact model available.
• How do you represent this all?
• Many sources of uncertainty.
• All information comes from sensors which have errors.
• The process of extracting useful information from sensors has errors
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• (These are not a particularly likely set of features.) • A map then says, for example, how these features sit relative to one
another.
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Localization Navigation
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see state
Environment
next
action
actions
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Approach: Classical/Deliberative Approach: Behaviour-based
• Sparse or no modeling
• Complete modeling
• Behavior based
• Function based
• Vertical decomposition
• Horizontal decomposition
• Bottom up
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