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robot_design [2009-01-06 16:41] – davegriffithsrobot_design [2009-01-07 15:05] (current) – 81.188.78.24
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-====Reactive vs Deliberative====+Notes on robot design - see also [[lirec notes]] & [[category robotics]]. 
 + 
 +Robotics is the intelligent connection of perception to action" - Michael Brady 
 + 
 +  * Perception: Sensors tell a robot about the outside world. 
 +  * Action: Actuators allow a robot to change the outside world, to act upon it. 
 +  * Intelligence: Some sort of controller 
 + 
 +====State==== 
 + 
 +State is what the robot collects in order to understand the world. 
 + 
 +(not too happy about these definitions...) 
 + 
 +  * Internal state: Directly observable state of the robot. Also it's internal representation of the world - it's internal model. 
 +  * External state: What's happening in the real world. Can only be known via a robot's sensors. 
 +  * Observable state: known at all times, usually internal - eg. battery state. 
 +  * Partially observable state: Through a sensor, along with noise eg: camera image pixels 
 +  * Hidden state: What you are actually interested in, in the real world - eg: position of user's head. Can't be directly known, must be indirectly inferred from (maybe multiple) sensors. See [[sensor fusion]]. 
 + 
 +====Controllers==== 
 + 
 +Deliberative vs Reactive
  
 ===Think hard - then act!=== ===Think hard - then act!===
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   * Needs a world model   * Needs a world model
   * Slow   * Slow
 +
 +For example : [[http://www.sri.com/about/timeline/shakey.html|Shakey]], the first robot built with a planning AI system (running on a PDP-10 and PDP-15 computer).
  
 ===Don't think, react!=== ===Don't think, react!===
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   * Unable to plan ahead   * Unable to plan ahead
   * Unable to learn   * Unable to learn
 +
 +For example: [[http://smfr.org/robots/|BEAM robots]] which stands for Biology, Electronics, Aesthetics, Mechanics, and was originally invented by [[http://en.wikipedia.org/wiki/Mark_Tilden|Mark Tilden]]. 
 +
 +===Or do both!===
 +  * Deliberative system on top
 +  * Reactive underneath
 +  * Hybrid or Behavioural system
  
 ====Links==== ====Links====
  • robot_design.1231260106.txt.gz
  • Last modified: 2009-01-06 16:41
  • by davegriffiths