MVILAIN@G.BBN.COM (Marc Vilain) (10/18/88)
BBN Science Development Program AI Seminar Series Lecture WHAT MY ROBOT SHOULD DO NEXT: NAVIGATION WITHOUT PLANNING; VISION WITHOUT INVERSE-OPTICS. Ian D. Horswill MIT Artificial Intelligence Lab (IDH@WHEATIES.AI.MIT.EDU) BBN Labs 10 Moulton Street 2nd floor large conference room 10:30 am, Tuesday October 25 In this talk I will discuss a system which performs a variety of low-level navigation activities without many of the traditional trappings of robot navigation such as mapping, planning, callibrated cameras, surface reconstruction, or dead reconning. In particular, the system chases moving objects, investigates static ones, and follows along corridors using a camera for visual feedback. Rather than committing to a pre-planned path and attempting to follow it accurately, the system constantly re-answers the question "what should I do next?". By continuously reasessing the situation, the system is able to operate in dynamic and even unpredictable environments where mapping and planning are unfeasible. By breaking the problem up into managable routine tasks such as corridor following, the system is able to perform the tasks using dramatically simpler machinery than conventional systems while guaranteeing bounded response time (0.2 seconds in our present implementation). -------