Paradigms of A.I. Robotics

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Shakey the Robo Developed in 1967-1970 at the Stanford Research Institute Major contributors include: Charles Rosen, Nils Nilsson et. al. The first mobile robot to reason about its actions Key components: camera, optical range finder, bump sensors Paradigms of A.I. Robotics – p.8/
Pros and Cons of H.P Advantages: Hierarchical (top-down) structure allow for the planning module to focus all behaviours towards a single set of goals. Drawbacks: (Closed world assumption) Reliance on the static world model during the S-P-A cycle causes poor performance in dynamic environments. (Frame problem) Updating and maintaining a sufficiently detailed world model can be computationally intractable. Searching for a plan to achieve a certain goal is equally complex. Paradigms of A.I. Robotics – p.9/
Page 1 and 2: Paradigms of A.I. Robotics Weiwei P
Page 3 and 4: Intelligent Robot Why do Robots Nee
Page 5 and 6: Primitive Functions of A.I. Robot
Page 7: Characteristics of H.P The Hierarch
Page 11 and 12: The Reactive Paradigm Sense Act A r
Page 13 and 14: Characteristics of R.P 2. Overall b
Page 15 and 16: Architectures of R.P 1. Subsumption
Page 17 and 18: The Subsumption Architecture 2. Beh
Page 19 and 20: Subsumption Robot Robots built usin
Page 21 and 22: Following a Corridor Level 1: Explo
Page 23 and 24: Follow a Corridor LOOK middle STAY
Page 25 and 26: Toto the Robo Paradigms of A.I. Rob
Page 27 and 28: Primitive Potential Field (a) Unifo
Page 29 and 30: Movement via Potential Field The ro
Page 31 and 32: Magnitude Profile Question: How sho
Page 33 and 34: Generating Potential Field Definiti
Page 35 and 36: Following a Corridor Paradigms of A
Page 37 and 38: Robosoccer Paradigms of A.I. Roboti
Page 39 and 40: Difficulties with Potential Field P
Page 41 and 42: Summary of the Reactive Paradigm Po
Page 43: References [1] R. R. Murphy, Introd

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