Intelligent Robots for Space Applications Intelligent ... - TRACLabs

Intelligent Intelligent Robots Robots for for Space Space Applications Applications Dr. Dr. David David Kortenkamp Kortenkamp NASA NASA Johnson Johnson Space Space Center/Metrica Center/Metrica Inc. Inc. Houston Houston TX TX 77058 77058 [email protected] [email protected] http://www.traclabs.com/~korten http://www.traclabs.com/~korten Dr. Dr.David DavidKortenkamp Kortenkamp NASA Johnson NASA JohnsonSpace SpaceCenter Center

Motivation Motivation •• Planetary Planetary surfaces surfaces can can be be explored explored more more cheaply cheaply and and quickly quickly •• Expensive Expensive and and dangerous dangerous Extra Extra Vehicular Vehicular Activities Activities (EVAs) (EVAs) by by astronauts astronauts can can be be reduced reduced •• Spin-off Spin-off applications applications on on earth earth

Dr. Dr.David DavidKortenkamp Kortenkamp NASA Johnson NASA JohnsonSpace SpaceCenter Center

A A Brief Brief History History of of Intelligent Intelligent Robots Robots •• Shakey Shakey (1966 (1966 -- 1972) 1972) –– Sense, Sense, plan, plan, act act (SPA) (SPA) –– STRIPS STRIPS planner planner (operators, (operators, pre pre and and post post conditions) conditions) –– very very slow! slow! Sensing

World Modeling


Planning

Control

Execution

Rodney Rodney Brooks Brooks and and Subsumption Subsumption •• ••

Subsumption Subsumption architecture architecture published published in in 1986 1986 No No internal internal models: models: “The “The world world isis its its own own best best model” model” •• Fast, Fast, alive! alive! build map wander avoid obstacles move Dr. Dr.David DavidKortenkamp Kortenkamp NASA Johnson NASA JohnsonSpace SpaceCenter Center

Hybrid Hybrid Systems Systems •• Desire Desire to to have have robots robots that that are are both both reactive reactive and and deliberative deliberative •• Combined Combined subsumption subsumption and and planning planning planning sequencing reactive Dr. Dr.David DavidKortenkamp Kortenkamp NASA Johnson NASA JohnsonSpace SpaceCenter Center

Probabilistic Probabilistic Robots Robots •• Primarily Primarily concerned concerned with with mapping mapping (localization) (localization) and and navigation navigation •• Try Try to to determine determine most most likely likely position position of of robot robot p(s) s


AAAI AAAI Robot Robot Competitions Competitions •• 1992 1992 in in San San Jose Jose –– find find and and approach approach 10 10 poles poles in in large large arena arena with with stationary stationary obstacles obstacles

•• 1996 1996 in in Portland Portland –– navigate navigate an an office office building building –– collect collect moving moving and and stationary stationary balls balls

•• 2000 2000 in in Austin Austin TX TX –– serve serve hors hors d’oeuvres d’oeuvres –– search search and and rescue rescue Dr. Dr.David DavidKortenkamp Kortenkamp NASA Johnson NASA JohnsonSpace SpaceCenter Center

Key Key Areas Areas in in Robotics Robotics •• Mapping Mapping and and navigation navigation –– obstacle obstacle avoidance avoidance –– mapping mapping –– path path planning planning

•• Computer Computer vision vision –– stereo stereo vision vision –– color color vision vision

•• Architectures Architectures Dr. Dr.David DavidKortenkamp Kortenkamp NASA Johnson NASA JohnsonSpace SpaceCenter Center

Obstacle Obstacle Avoidance Avoidance •• Sonar Sonar sensors sensors t multiple multiplereflections reflections

•• Certainty Certainty grids grids

+1 +2 +3 +2 +1


Mapping Mapping •• Topological Topological mapping mapping –– distinctive distinctive places places –– connection connection graph graph –– less less need need for for accurate accurate location location

•• Geometric Geometric mapping mapping –– spatial spatial relationships relationships maintained maintained –– uncertainties uncertainties multiply multiply


Path Path Planning Planning •• Given Given aa start start location, location, aa goal goal location location and and aa map, map, find find aa (perhaps (perhaps optimal) optimal) path path from from start start to to goal goal •• Replanning Replanning isis often often necessary necessary ifif information information about about the the environment environment changes changes



Stereo Stereo Vision Vision •• Two Two cameras cameras at at aa fixed fixed distance distance (baseline) (baseline) from from each each other other •• Different Different perspectives perspectives of of two two cameras cameras (right (right and and left) left) lead lead to to relative relative difference difference between between the the location location of of the the same same object object in in the the two two images,which images,which varies varies by by distance. distance. Distance = baseline * focal length x1 - x2 Dr. Dr.David DavidKortenkamp Kortenkamp NASA Johnson NASA JohnsonSpace SpaceCenter Center

Color Color Vision Vision •• Image Image composed composed of of red, red, green green and and blue blue (RGB) (RGB) components components •• By By knowing knowing the the color color characteristics characteristics of of an an object object (and (and normalizing normalizing for for light) light) specific specific objects objects can can be be recognized recognized •• Solid Solid colors colors are are easy easy •• Multiple Multiple colors colors use use histograms histograms Dr. Dr.David DavidKortenkamp Kortenkamp NASA Johnson NASA JohnsonSpace SpaceCenter Center

Architectures Architectures Planner

Planning/Monitoring

goal

subgoal task

subgoal

task

task

subgoal task

World Model

task

Sequencer

––conditional conditionalactivation activationofofskill skillsets sets Sequence Memory

Interpreter

Agent 1 Agent 2 Agent 3

Robots/Simulation

•• Control Control ––skills skillsprovide providereactive reactivecontrol controlofofrobot robot

Skills


––responsible responsiblefor fortime timeand andresource resource constraints constraints

•• Sequencing Sequencing

AGENDA task subtask subtask primitive primitive wait-for primitive subtask

•• Planning Planning

Planning Planning example example (Operator (Operator replace-batteries replace-batteries :purpose :purpose (state (state batteries batteries replaced) replaced) :agents :agents (?robot (?robot ?human) ?human) :constraints :constraints ((instance-of ((instance-of ?robot ?robot ‘robot) ‘robot) (instance-of (instance-of ?human ?human ‘human)) ‘human)) :preconditions :preconditions ((state ((state bay bay opened)) opened)) :plot :plot (sequential (sequential (covers (covers (monitor-batteries (monitor-batteries ?robot ?robot in-monitor) in-monitor) (display (display ?human ?human monitored)) monitored)) (batteries (batteries ?robot ?robot are-replaced)) are-replaced)) :effects :effects ((state ((state batteries batteries replaced))) replaced))) Dr. Dr.David DavidKortenkamp Kortenkamp NASA Johnson NASA JohnsonSpace SpaceCenter Center

Sequencing Sequencing example example (define-rap (define-rap(arm-move (arm-move?arm ?arm?place) ?place) (succeed (succeed(and (and(arm-at (arm-at?arm ?arm?where) ?where) (= (=?where ?where?place))) ?place))) (method (methodrobot-move robot-move (context (context(and (and(LOA (LOAarm-move arm-move?arm ?arm?place ?place?loa) ?loa) (= (=?loa ?loaautonomous))) autonomous))) (primitive (primitive (enable (enable(:arm_move (:arm_move(:place (:place. .?place)) ?place)) (wait-for (wait-for(arm-move-done (arm-move-done?arm ?arm?place ?place?result) ?result) :succeed :succeed(arm-move (arm-move?result)) ?result)) (disable (disable:above))) :above))) (method (methodhuman-move human-move (context (context(and (and(LOA (LOAarm-move arm-move?arm ?arm?place ?place?loa) ?loa) (= (=?loa ?loatele-operate))) tele-operate))) (primitive (primitive (tell-user (tell-user“move “movearm armtoto?place”) ?place”) (wait-for (arm-move-done (wait-for (arm-move-done?arm ?arm?place ?place?result) ?result) :succeed :succeed(arm-move (arm-move?result))))) ?result)))))


Intelligent Intelligent Robots Robots in in Space Space •• Planetary Planetary rovers rovers –– exploration exploration –– preparation preparation

•• In-orbit In-orbit operations operations –– astronaut astronaut assistance assistance

•• Future Future applications applications –– on-going on-going NASA NASA research research


Rovers Rovers •• Sojourner Sojourner (part (part of of the the Mars Mars Pathfinder Pathfinder mission) mission) was was first first mobile mobile robot robot on on Mars Mars •• Simple Simple on-board on-board hazard hazard avoidance avoidance (using (using laser laser ranging, ranging, imaging imaging and and internal internal sensors) sensors) •• Mostly Mostly up-linked up-linked targets targets on on regular regular basis basis •• Some Some path path planning planning


Future Future Rovers Rovers •• NASA NASA to to send send two two rovers rovers to to Mars Mars in in 2003 2003 (will (will land land in in January January 2004) 2004) •• Large Large (~130kg) (~130kg) •• 90 90 day day mission, mission, 100 100 meters meters each each mission mission day day


In-orbit In-orbit operations operations •• AERCam AERCam Sprint Sprint –– provides provides aa moveable moveable camera camera view view –– flew flew on on STS-87 STS-87 in in 1997 1997 –– no no real real autonomy autonomy

•• Shuttle Shuttle Remote Remote Manipulator Manipulator –– not not really really aa robot robot –– no no autonomy autonomy


Research Research Robots Robots •• Robonaut Robonaut –– humanoid humanoid robot robot –– teleoperated teleoperated

•• EVA EVA Robotic Robotic Assistant Assistant –– assists assists astronauts astronauts on on Mars Mars –– fully fully autonomous autonomous

•• Antarctica Antarctica –– meteorite meteorite search search Dr. Dr.David DavidKortenkamp Kortenkamp NASA Johnson NASA JohnsonSpace SpaceCenter Center

Conclusion Conclusion •• Robots Robots require: require: –– sensing sensing (vision, (vision, range) range) –– actuation actuation –– control control –– artificial artificial intelligence intelligence

•• Space Space robots robots becoming becoming more more capable capable and and autonomous autonomous •• Robots Robots beginning beginning to to become become real real Dr. Dr.David DavidKortenkamp Kortenkamp NASA Johnson NASA JohnsonSpace SpaceCenter Center

Further Further Reading Reading •• Mobile Mobile Robots Robots and and Artificial Artificial Intelligence: Intelligence: Case Case Studies Studies of of Successful Successful Robot Robot Systems Systems –– David David Kortenkamp, Kortenkamp, Robin Robin Murphy, Murphy, R. R. Peter Peter Bonasso, Bonasso, editors editors –– MIT MIT Press Press or or Amazon.com Amazon.com
