Inteligência Artificial
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Behavior Trees in Robotics and AI
Michele Colledanchise and Petter Ogren¨ Behavior Trees in Robotics and AI An Introduction arXiv:1709.00084v4 [cs.RO] 3 Jun 2020 Contents 1 What are Behavior Trees? ....................................... 3 1.1 A Short History and Motivation of BTs . .4 1.2 What is wrong with FSMs? The Need for Reactiveness and Modularity . .5 1.3 Classical Formulation of BTs. .6 1.3.1 Execution Example of a BT . .9 1.3.2 Control Flow Nodes with Memory . 11 1.4 Creating a BT for Pac-Man from Scratch . 12 1.5 Creating a BT for a Mobile Manipulator Robot . 14 1.6 Use of BTs in Robotics and AI . 15 1.6.1 BTs in autonomous vehicles . 16 1.6.2 BTs in industrial robotics . 18 1.6.3 BTs in the Amazon Picking Challenge . 20 1.6.4 BTs inside the social robot JIBO . 21 2 How Behavior Trees Generalize and Relate to Earlier Ideas . 23 2.1 Finite State Machines . 23 2.1.1 Advantages and disadvantages . 24 2.2 Hierarchical Finite State Machines . 24 2.2.1 Advantages and disadvantages . 24 2.2.2 Creating a FSM that works like a BTs . 29 2.2.3 Creating a BT that works like a FSM . 32 2.3 Subsumption Architecture . 32 2.3.1 Advantages and disadvantages . 33 2.3.2 How BTs Generalize the Subsumption Architecture . 33 2.4 Teleo-Reactive programs . 33 2.4.1 Advantages and disadvantages . 34 2.4.2 How BTs Generalize Teleo-Reactive Programs . 35 2.5 Decision Trees . 35 2.5.1 Advantages and disadvantages . -
Letters to the Editor
AI Magazine Volume 12 Number 3 (1991) (© AAAI) Letters q Editor: system-centered research. First, the the other does. No theorist is going Thank you for the opportunity to split between the neats and scruffies to spend his or her time attempting respond to the letters by Jim Hendler, is old and institutionalized, as to bring precision to a mess of hacks, James Herbsleb and Mike Wellman Hendler points out. Few researchers kludges and “knowledge,” and no regarding my survey of the Eighth are trained in both camps. Second, system builder is apt to find the National Conference on Artificial the pathologies that researchers in attempt informative. MAD does not Intelligence (AI Magazine, Volume 12, AAAI-90 themselves attributed to mean business as usual with occa- No. 1). The letters raise many inter- focusing on just one aspect did, in sional collaborative meetings. esting points that can be roughly fact, arise. Third, the expected advan- hfAn means assessing environmen- classified as questioning the validity tages of merging systems and models tal factors that affect behavior; of the survey and questioning the did, in fact, materialize (although the modelling the causal relationships proposed MAD methodology. Mike sample was very small). Wellman between a system’s design, its envi- Wellman says, “As Cohen acknowl- says that just because I didn’t see ronment, and its behavior; designing edges, a serious problem with the system-centered and model-centered or redesigning a system (or part of a survey is that the AAAI conference research reported together, doesn’t system); predicting how the system proceedings do not accurately repre- mean it wasn’t there; I say that I will behave; running experiments to sent the field.” Actually, I did not found pathoIogies (e.g., see my sec- test the predictions; explaining unex- acknowledge that AAAI is not repre- tions Models Without Systems and pected results and modifying modeis sentative; I just raised the possibility. -
History of Robotics: Timeline
History of Robotics: Timeline This history of robotics is intertwined with the histories of technology, science and the basic principle of progress. Technology used in computing, electricity, even pneumatics and hydraulics can all be considered a part of the history of robotics. The timeline presented is therefore far from complete. Robotics currently represents one of mankind’s greatest accomplishments and is the single greatest attempt of mankind to produce an artificial, sentient being. It is only in recent years that manufacturers are making robotics increasingly available and attainable to the general public. The focus of this timeline is to provide the reader with a general overview of robotics (with a focus more on mobile robots) and to give an appreciation for the inventors and innovators in this field who have helped robotics to become what it is today. RobotShop Distribution Inc., 2008 www.robotshop.ca www.robotshop.us Greek Times Some historians affirm that Talos, a giant creature written about in ancient greek literature, was a creature (either a man or a bull) made of bronze, given by Zeus to Europa. [6] According to one version of the myths he was created in Sardinia by Hephaestus on Zeus' command, who gave him to the Cretan king Minos. In another version Talos came to Crete with Zeus to watch over his love Europa, and Minos received him as a gift from her. There are suppositions that his name Talos in the old Cretan language meant the "Sun" and that Zeus was known in Crete by the similar name of Zeus Tallaios. -
Intelligence Without Representation: a Historical Perspective
systems Commentary Intelligence without Representation: A Historical Perspective Anna Jordanous School of Computing, University of Kent, Chatham Maritime, Kent ME4 4AG, UK; [email protected] Received: 30 June 2020; Accepted: 10 September 2020; Published: 15 September 2020 Abstract: This paper reflects on a seminal work in the history of AI and representation: Rodney Brooks’ 1991 paper Intelligence without representation. Brooks advocated the removal of explicit representations and engineered environments from the domain of his robotic intelligence experimentation, in favour of an evolutionary-inspired approach using layers of reactive behaviour that operated independently of each other. Brooks criticised the current progress in AI research and believed that removing complex representation from AI would help address problematic areas in modelling the mind. His belief was that we should develop artificial intelligence by being guided by the evolutionary development of our own intelligence and that his approach mirrored how our own intelligence functions. Thus, the field of behaviour-based robotics emerged. This paper offers a historical analysis of Brooks’ behaviour-based robotics approach and its impact on artificial intelligence and cognitive theory at the time, as well as on modern-day approaches to AI. Keywords: behaviour-based robotics; representation; adaptive behaviour; evolutionary robotics 1. Introduction In 1991, Rodney Brooks published the paper Intelligence without representation, a seminal work on behaviour-based robotics [1]. This paper influenced many aspects of research into artificial intelligence and cognitive theory. In Intelligence without representation, Brooks described his behaviour-based robotics approach to artificial intelligence. He highlighted a number of points that he considers fundamental in modelling intelligence. -
The Bias-Variance Tradeoff
The Bias-Variance Tradeoff: How Data Science Can Inform Educational Debates Shayan Doroudi Abstract In addition to providing a set of techniques to analyze educational data, I claim that data science as a field can provide broader insights to education research. In partic- ular, I show how the bias-variance tradeoff from machine learning can be formally generalized to be applicable to several prominent educational debates, including de- bates around learning theories (cognitivist vs. situativist and constructivist theories) and pedagogy (direct instruction vs. discovery learning). We then look to see how various data science techniques that have been proposed to navigate the bias-variance tradeoff can yield insights for productively navigating these educational debates going forward. Keywords: bias-variance tradeoff, learning theories, direct instruction, discovery learning, re- search methods, epistemology, artificial intelligence, machine learning Introduction In recent years, data science and machine learning have been used to make sense of various forms of educational data. Educational data science can enhance our understanding of learning and teaching; give insights to teachers, students, and administrators about learning happening in the 1 classroom; and lead to the creation of data-driven adaptive learning systems. However, I claim that machine learning and data science have more to offer than a set of techniques that can be applied to educational data. Theoretical concepts and principles in machine learning can provide broader insights to education research. In particular, in this paper, I show that the bias-variance tradeoff from machine learning can provide a new lens with which to view prominent educational debates. The field of education is filled with seemingly perennial debates that have important implications on the nature of educational research and practice. -
Origins of the American Association for Artificial Intelligence
AI Magazine Volume 26 Number 4 (2006)(2005) (© AAAI) 25th Anniversary Issue The Origins of the American Association for Artificial Intelligence (AAAI) Raj Reddy ■ This article provides a historical background on how AAAI came into existence. It provides a ratio- nale for why we needed our own society. It pro- vides a list of the founding members of the com- munity that came together to establish AAAI. Starting a new society comes with a whole range of issues and problems: What will it be called? How will it be financed? Who will run the society? What kind of activities will it engage in? and so on. This article provides a brief description of the consider- ations that went into making the final choices. It also provides a description of the historic first AAAI conference and the people that made it happen. The Background and the Context hile the 1950s and 1960s were an ac- tive period for research in AI, there Wwere no organized mechanisms for the members of the community to get together and share ideas and accomplishments. By the early 1960s there were several active research groups in AI, including those at Carnegie Mel- lon University (CMU), the Massachusetts Insti- tute of Technology (MIT), Stanford University, Stanford Research Institute (later SRI Interna- tional), and a little later the University of Southern California Information Sciences Insti- tute (USC-ISI). My own involvement in AI began in 1963, when I joined Stanford as a graduate student working with John McCarthy. After completing my Ph.D. in 1966, I joined the faculty at Stan- ford as an assistant professor and stayed there until 1969 when I left to join Allen Newell and Herb Simon at Carnegie Mellon University Raj Reddy. -
Distributed Behavior-Based Control Architecture for a Wall Climbing Robot
MALAYSIAN SCIENCE & TECHNOLOGY CONGRESS '98 MY01 01 650 Symposium C: Computer Science & Information Technology •' 'niwrsilt Sains Malaysia. Pulau Piaany., 10-11 tJmvmher IWi DISTRIBUTED BEHAVIOR-BASED CONTROL ARCHITECTURE FOR A WALL CLIMBING ROBOT Nadir Ould Khessal Shamsudin H. M. Amin Faculty of Electrical Engineering Faculty of Electrical Engineering University Technology Malaysia University Technology Malaysia PO. Box 791, Skudai 80990 PO. Box 791, Skudai 80990 Johor. Malaysia Johor, Malaysia Tel: (60)-07-5505138 Tel: (60)-07-5505003 Fax:(60)-07-5 566272 Fax :(60)-07-55 66272 [email protected] [email protected] ABSTRACT In the past two decades. Behavior-based AI (Artificial Intelligence) has emerged as a new approach in designing mobile robot control architecture. It stresses on the issues of reactivity, concurrency and real-time control. In this paper we propose a new approach in designing robust intelligent controllers for mobile robot platforms. The Behaviour-based paradigm implemented in a multiprocessing firmware architecture will further enhance parallelism present in the subsumption paradigm itself and increased real-timeness. The paper summarises research done to design a four-legged wall climbing robot. The emphasis will be on the control architecture of the robot based on the Behavior -based paradigm. The robot control architecture is made up of two layers, the locomotion layer and the gait controller layer. The two layers are implemented on a Vesra 68332 processor board running the Behaviour-based kernel. The software is developed using the "L," programming language , introduced by IS Robotics. The Behaviour-based paradigm is outlined and contrasted with the classical Knowledge-based approach. -
Ray Kurzweil Reader Pdf 6-20-03
Acknowledgements The essays in this collection were published on KurzweilAI.net during 2001-2003, and have benefited from the devoted efforts of the KurzweilAI.net editorial team. Our team includes Amara D. Angelica, editor; Nanda Barker-Hook, editorial projects manager; Sarah Black, associate editor; Emily Brown, editorial assistant; and Celia Black-Brooks, graphics design manager and vice president of business development. Also providing technical and administrative support to KurzweilAI.net are Ken Linde, systems manager; Matt Bridges, lead software developer; Aaron Kleiner, chief operating and financial officer; Zoux, sound engineer and music consultant; Toshi Hoo, video engineering and videography consultant; Denise Scutellaro, accounting manager; Joan Walsh, accounting supervisor; Maria Ellis, accounting assistant; and Don Gonson, strategic advisor. —Ray Kurzweil, Editor-in-Chief TABLE OF CONTENTS LIVING FOREVER 1 Is immortality coming in your lifetime? Medical Advances, genetic engineering, cell and tissue engineering, rational drug design and other advances offer tantalizing promises. This section will look at the possibilities. Human Body Version 2.0 3 In the coming decades, a radical upgrading of our body's physical and mental systems, already underway, will use nanobots to augment and ultimately replace our organs. We already know how to prevent most degenerative disease through nutrition and supplementation; this will be a bridge to the emerging biotechnology revolution, which in turn will be a bridge to the nanotechnology revolution. By 2030, reverse-engineering of the human brain will have been completed and nonbiological intelligence will merge with our biological brains. Human Cloning is the Least Interesting Application of Cloning Technology 14 Cloning is an extremely important technology—not for cloning humans but for life extension: therapeutic cloning of one's own organs, creating new tissues to replace defective tissues or organs, or replacing one's organs and tissues with their "young" telomere-extended replacements without surgery. -
1 ROS SEMINAR UNIT 1.3 ROS & People & Rethink Give a Short
ROS SEMINAR UNIT 1.3 ROS & People & Rethink Give a short description of the following organizations and include their contributions to Robotics and ROS. Give References. a. Willow Garage b. iRobot c. Rethink Robotics a. https://en.wikipedia.org/wiki/Willow_Garage Willow Garage hired its first employees in January 2007, Jonathan Stark, Melonee Wise, Curt Meyers, and John Hsu. All four were recruited by Scott Hassan to work on Willow Garage's first projects which included an SUV entrant into the DARPA Grand Challenge and an autonomous solar powered boat for deploying scientific payloads in open oceans.[8] In the Fall of 2008, Eric Berger and Keenan Wyrobek pitched Willow Garage on creating a common hardware (PR1) and software (ROS) platforms and the idea of creating a Personal Robotics Program at Willow Garage[9]. They has previously started the Stanford Personal Robotics Program[10] to build the platform technologies that would enable the personal robotics industry. At Willow Garage they led the development of PR2[11], the common hardware platform for robotics R&D, and ROS[12], the open source robot operating system. https://spectrum.ieee.org/automaton/robotics/robotics-software/the-origin-story-of-ros-the-linux-of- robotics [9] Willow Garage currently has eight spin-offs: Here are four of importance: Industrial Perception Inc. - Acquired by Google in August 2013, IPI had as its broader mission "eyes and brains for industrial robots", focused on new robotic applications in logistics such as autonomous truck unloading. OpenCV - An open source computer vision and machine learning software library built to provide a common infrastructure for computer vision applications and to accelerate the use of machine perception in the commercial products. -
Robotics Research Task
Engineering Design (Robotics + Game Development) Robotics Research Task Your task is to select, and research, a particular robot (or particular robots) that demonstrates a general topic relating to robotics (or a type of robot), then create a presentation (e.g. PowerPoint, Google Presentation) about your robot. For example: “da Vinci – the surgical robot” You can work on this project by yourself or with one other person. Note: If you don’t feel comfortable presenting to the class at this stage, no worries. Someone else (e.g. your teacher) can do it for you. Your topic can be from the list on the other side of this page or something else entirely, but your robot (and preferably your topic) must be different from everyone else’s. You MUST have the teacher approve your choice before going further with research. Your name(s): ___________________________ Your robot/topic: _____________________________ Teacher approval: ________________________ Date: ______________________ Presentation Structure At a minimum, your presentation must include the following slides… Slide 1 Title slide with the topic, your name(s), the name of this course – Computing (Robotics + Game Design), and date. 2 Definition of a robot (or the history of the word “robot”) 3 Picture, robot name, and creator (or designer or manufacturer) of the robot you chose 4-6 More information about the robot, e.g. • Why this robot was created? What was it designed to do? • How does the robot work? What are its limitations/constraints? • Description of movable parts/systems, type of power, controls, etc. • What does the future hold for this robot and/or field of robotics? This is the largest section. -
Robots As Powerful Allies for the Study of Embodied Cognition from the Bottom Up, in A
Author version of: Hoffmann, M. & Pfeifer, R. (2018), Robots as powerful allies for the study of embodied cognition from the bottom up, in A. Newen, L. de Bruin; & S. Gallagher, ed., 'The Oxford Handbook 4e Cognition', Oxford University Press, pp. 841-862. DOI - Link to OUP website: https://doi.org/10.1093/oxfordhb/9780198735410.013.45. (version with final formatting can be requested from matej.hoffmann [guess what] fel.cvut.cz) Robots as powerful allies for the study of embodied cognition from the bottom up Matej Hoffmann1,2 & Rolf Pfeifer3 1 - Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Karlovo Namesti 13, 121 35 Prague 2, Prague, Czech Republic, e-mail: [email protected] 2 - iCub Facility, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genoa, Italy 3 – Living with robots, [email protected] Abstract A large body of compelling evidence has been accumulated demonstrating that embodiment – the agent’s physical setup, including its shape, materials, sensors and actuators – is constitutive for any form of cognition and as a consequence, models of cognition need to be embodied. In contrast to methods from empirical sciences to study cognition, robots can be freely manipulated and virtually all key variables of their embodiment and control programs can be systematically varied. As such, they provide an extremely powerful tool of investigation. We present a robotic bottom-up or developmental approach, focusing on three stages: (a) low-level behaviors like walking and reflexes, (b) learning regularities in sensorimotor spaces, and (c) human-like cognition. We also show that robotic based research is not only a productive path to deepening our understanding of cognition, but that robots can strongly benefit from human-like cognition in order to become more autonomous, robust, resilient, and safe. -
Edward Feigenbaum 1994 ACM Turing Award Recipient
Edward Feigenbaum 1994 ACM Turing Award Recipient Interviewed by: Don Knuth Recorded: April 4, and May 2, 2007 Mountain View, California This transcript, and the video interview on which it is based, is copyright by the Computer History Museum and the ACM is using it by their generous permission. © 2007 Computer History Museum CHM Reference number: X3897.2007 DK: Don Knuth, the interviewer EF: Edward (Ed) Feigenbaum, the 1994 ACM Turing Award Recipient DK: Hello, everyone. My name is Don Knuth. Today [April 4, 2007] I have the great privilege e of interviewing Ed Feigenbaum for oral history where we hope to reach people generations from now and also people of today. I’m going to try to ask a zillion questions about things that I wish I could have asked people who unfortunately are dead now so that students and general scientific people, people with general interest in the world, historians and so on in the future will have some idea as to what Ed was really like even though none of us are going to be around forever. Now this is the second part of a two- phase study. Ed grilled me a couple weeks ago and now it’s my turn to do him. I hope I can do half as well as he did for me. I’d like to get right into it -- But first of all sort of for organization, my plan -- who knows if it’ll carry it out -- is to do a little bit first that’s chronological, in order to set the scenes for his whole life.