comp 551: advanced robotics lab - rice university · •for that, take comp 450, “algorithmic...
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Rice University, COMP 551, Spring 2010 3
Course Overview
Learn key concepts of distributed robotic systems
•Sensing/control
•Communication
•Consensus
•State estimation
Implement these concepts on real robots
•This is a Lab course
•With lots of software to write and algorithms to implement
•Python for the first lab, then C for the remaining labs
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Course Overview
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Rice University, COMP 551, Spring 2010 5
Course Un-Topics
Algorithmic Robotics
•For that, take COMP 450, “Algorithmic Robotics”
•I will keep the math and theory and proofs to a minimum
Manipulation and Control
•For that, take MECH 498, “Introduction to Robotics”
AI and Machine Learning
•Comp 441, Artificial Intelligence
•ELEC 631, Reinforcement Learning
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Rice University, COMP 551, Spring 2010 7
A Book
Not required for the course, might be helpful for the final project
The bibliographic notes are very nice
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Rice University, COMP 551, Spring 2010 8
Grading
This is a lab course:
•Lab Set 1: 20%
•Lab Set 2: 20%
•Lab Set 3: 30%
•Lab Set 4: 30%
The labs will take considerable time
•Start early
•Ask lots of questions
No final
No homework
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Rice University, COMP 551, Spring 2010 9
Collaboration
We will all have to work together
•Solve the challenging problems
•Share experiment design
Submit one code per lab team
•Your code will be written collaboratively
Hand in one report per person
•One or two pages, max
•Tell us what your group design is…
•Tell us what you did
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Rice University, COMP 551, Spring 2010 10
Lab Topics
Lab 1:
•Robot Software Architecture,
•Pose Estimation,
•Behavior-based control
Lab 2:
•Sensors and feedback
•Communications,
Lab 3
•Distributed algorithms,
•Multi-robot configuration control.
Lab 4:
•State Estimation, EKF or Particle Filter
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Topics Overview
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Basic Robotics
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Rice University, COMP 551, Spring 2010 13
Robot Architecture, Odometry
Multi-threaded software design
Odometry-based pose measurement
Data visualization
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Feedback Control
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Rice University, COMP 551, Spring 2010 21
Feedback Control This is one of the most common system diagrams
We will be using it extensively in this course
This is a feedback system. The output “feeds back” to the input.
This is also a control loop. (Because it controls and it loops)
sense compute actuate input output
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Deterministic Robot Control Algorithms
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Rice University, COMP 551, Spring 2010 23 23
An Example FSM: Wall detection
no shadow
reset
|angle| < p/2
move forward
rotate left
rotate right
right sensor detect shadow |angle|
< p/2
left sensor detect shadow
|angle| ≥ p/2
|angle| ≥ p/2
[Review dark avoid code in editor]
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Rice University, COMP 551, Spring 2010 24 24
Behavior-Based Control A behavior is a small program (or finite-state machine) that reads the sensors and controls the robot
• Each behavior only does one simple thing
• Each behavior has access to all the sensors of the robot and produces motor outputs (tv, rv)
Only one behavior can be active at a time
• There is a prioritization of behaviors
• More important ones override, or subsume, less important ones
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Rice University, COMP 551, Spring 2010 25
Combining Behaviors We combine behaviors by overriding, or subsuming lower-priority behaviors if a higher-priority behavior becomes active
Wander
Behavior: move and turn
Follow a robot
Behavior: Follow another robot
Avoid Dark
Behavior: avoid shadow at walls Senso
rs
Actu
ato
rs
S
S
subsume operator
highest priority
lowest priority
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Probabilistic Robotics
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Rice University, COMP 551, Spring 2010 27
Uncertainty
What is my sensor telling me?
How can I extract perception from sensing?
How can I produce optimal estimates?
Is my sensor even working?
Where am I?
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Rice University, COMP 551, Spring 2010 28
Sensing and Belief s is the state of the robot,
in this case, position
Bel(s) is the robot’s belief about where it is.
P(o|s) is the probability of the sensor observation given the state of the robot.
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A Brief, Abridged, somewhat biased, History of Robotics
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Rice University, COMP 551, Spring 2010 30
Pop Quiz!
Name the Robot (1pt)
Name the creator/company/school (2pts)
Explain the significance (3pts)
Winner gets to select from these fine prizes…
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Rice University, COMP 551, Spring 2010 31
Tortoise
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Rice University, COMP 551, Spring 2010 32
Tortoise Behaviors
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Rice University, COMP 551, Spring 2010 33
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Rice University, COMP 551, Spring 2010 34
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Rice University, COMP 551, Spring 2010 35
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Rice University, COMP 551, Spring 2010 36
Shakey
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Rice University, COMP 551, Spring 2010 37
Genghis
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Rice University, COMP 551, Spring 2010 38
Genghis in Action
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Rice University, COMP 551, Spring 2010 40 picture courtesy iRobot
PackBot
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Rice University, COMP 551, Spring 2010 41 pictures courtesy iRobot
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Rice University, COMP 551, Spring 2010 42
NASA’s Spirit and Opportunity
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Rice University, COMP 551, Spring 2010 43
SwarmBot
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Rice University, COMP 551, Spring 2010 44
Message Speed
n = 44, t = 0.250s, speed = 0, RSR = 0
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Rice University, COMP 551, Spring 2010 45
Broadcast Tree Navigation
Purpose: To guide a robot from anywhere in the configuration to the root robot
n = 32, RSR = 0
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Rice University, COMP 551, Spring 2010 46
An Example Application: Building Search
ChargingBot
GuideBot
InteriorBot
BoundaryBot
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Rice University, COMP 551, Spring 2010 47
Blue=Frontiers Red=Interior Green=Charging White=Guides
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Rice University, COMP 551, Spring 2010 48
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Rice University, COMP 551, Spring 2010 49
The Perils of Small Robots in Big Buildings
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Rice University, COMP 551, Spring 2010 50
iRobot Roomba
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Rice University, COMP 551, Spring 2010 51
Kiva Systems
Current Robotic Applications
•Interplanetary exploration
•Tactical military operations
•Warehouse distribution
•Vacuuming
•Underwater exploration
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Rice University, COMP 551, Spring 2010 52
Honda ASIMO
picture courtesy Honda
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Rice University, COMP 551, Spring 2010 53
Big Dog
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Rice University, COMP 551, Spring 2010 54
Disturbance Rejection: Artificial System
“Big Dog”, Boston Dynamics
“Big Dog”, www.bostondynamics.com
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Rice University, COMP 551, Spring 2010 55
Disturbance Rejection: Natural System
“Preflexes”
Jindrich, D. L. and Full, R. J. (2002). Dynamic stabilization of rapid hexapedal locomotion. Journal of
Experimental Biology. 205,2803-2823. (Video and picture courtesy Devin Jindrich)
(Recovery in ~27ms!)
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Rice University, COMP 551, Spring 2010 56
Stanley
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Rice University, COMP 551, Spring 2010 57
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Job Selection
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The Big Sort
Broad group
Need to know what you guys can do
Rice University, COMP 551, Spring 2010 59
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Lots of Jobs for the Honary TAs
sysadmin
•Administer the git back-end server
web master
•update website
blog masters
•make blog entries
lab experts
•Help get the labs setup
Rice University, COMP 551, Spring 2010 60
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Robot Demo!