Working Group Cognitive Robotics

Transcription

1 Working Group Cognitive Robotics Bernd Krieg-Brückner, Reinhard Moratz, Thomas Röfer, Kai Hübner, Axel Lankenau, Tilman Vierhuff Bremen Institute of Safe Systems Center for Computing Technology Universität Bremen

2 Overview System safety violated Safety module failure Collision Communication failure Active Collision Passive Collision Artificial Events FAULT TREE SAFETY MECHANISMS Artificial Events Release/ Block Relevant Events ENVIRONMENT+ EUC Reality Spatial Cognition Safe Robotics Safe Wheelchair RoboCup SLAM Navigation Assistant Working Group Cognitive Robotics 2

3 Rolland Technical Information Meyra Model Genius cm/s maximum speed Communication via two serial ports Sensor Equipment Internal sensors (speed/steering angle) 27 ultrasonic sensors (Nomadic) On-Board Computer Industry-PC (Pentium III/600) QNX (real-time operating system) Working Group Cognitive Robotics 3

4 Safe Wheelchair Motivation drive command via joystick sonar measurments of environment safety module safe drive command Working Group Cognitive Robotics 4

5 Safe Wheelchair Architecture real-time applications asynchronous applications network 32 ms sense & actuate modul (SAM) wheelchair Working Group Cognitive Robotics 5

6 Safe Wheelchair Static Fire Sequence Working Group Cognitive Robotics 6

7 Safe Wheelchair Static Fire Sequence (in motion) Working Group Cognitive Robotics 7

8 Safe Wheelchair Obstacle Detection age age of of measurement occupancy of of cell cell never never measured measured empty empty obstacle obstacle supposed supposed obstacle obstacle confirmed confirmed danger of of collision! Working Group Cognitive Robotics 8

9 Safe Wheelchair Results Working Group Cognitive Robotics 9

10 Driving Assistant Avoidance Working Group Cognitive Robotics 10

11 Driving Assistant Demonstration Working Group Cognitive Robotics 11

12 Overview System safety violated Safety module failure Collision Communication failure Active Collision Passive Collision Artificial Events FAULT TREE SAFETY MECHANISMS Artificial Events Release/ Block Relevant Events ENVIRONMENT+ EUC Spatial Cognition Safe Robotics Safe Wheelchair Reality RoboCup SLAM Navigation Assistant Working Group Cognitive Robotics 12

13 Navigation Assistant Marauder s Map Working Group Cognitive Robotics 13

14 Navigation Assistant Rolland acoustic instructions Turn right at the next possibility user interface visual instructions Working Group Cognitive Robotics 14

15 Generalization of Locomotion 224cm, 75, 799cm, -83, 880cm, -87, 260cm Working Group Cognitive Robotics 15

16 Modeling the Environment I H B C Junction DCI D G A E F Working Group Cognitive Robotics 16

17 Junctions Angle between incoming and outgoing segment Length of outgoing segment List of incoming segments A 90 1 m B A 1 m B 0 A 1 m B B -90 1,5 m A 1 m B 1,5 m C -90 C Crossing Junction Working Group Cognitive Robotics 17

18 Inductive Approach Idea: Assigning route corners to junctions Two-step assignment Corner matches a junction The rest of the generalized route matches up to the junction I H B C D G generalization of driven route A route graph E F Working Group Cognitive Robotics 18

19 Probabilities from Similarities probability probability angle difference (radians) corridor length (cm) route segment length (cm) Working Group Cognitive Robotics 19

20 Matching Corners Differentiation between the probabilities that the corner previously generalized really exists, Angle of corner is similar to angle of the junction in the route graph... the corner has been detected erroneously,... Angle of corner is similar to 0... a corner has been overlooked,... Angle of the junction in the route graph is similar to 0... it has been turned around at the corner previously generalized Angle of corner is similar to 180 route route graph Working Group Cognitive Robotics 20

21 Propagation of Probabilities = t+1 t t Working Group Cognitive Robotics 21

22 Determining the Candidate Junction Working Group Cognitive Robotics 22

23 Indoor and Outdoor Navigation Building: MZH Working Group Cognitive Robotics 23

24 Indoor and Outdoor Navigation Building: NW 2 Working Group Cognitive Robotics 24

25 Indoor and Outdoor Navigation Buildings: IW + BIBA Working Group Cognitive Robotics 25

26 Indoor and Outdoor Navigation Building: MZH Overall length: 2176 m Working Group Cognitive Robotics 26

27 Odometry Data NW2 FZB IW MZH Working Group Cognitive Robotics 27

28 Route Graph Working Group Cognitive Robotics 28

29 Results I Believed in previous corner Not believed in previous corner Most probable position Intensity encodes confidence Speeded up by factor 70 Working Group Cognitive Robotics 29

30 Working Group Cognitive Robotics 30 Universität Bremen Reference: Laser Scan Map t o p n q r m l k d c P M a WX Z T R L U S V h J D f i e Y g b C G Q I NO K H s F E j A B

31 Results II Working Group Cognitive Robotics 31

32 Overview System safety violated Safety module failure Collision Communication failure Active Collision Passive Collision Artificial Events FAULT TREE SAFETY MECHANISMS Artificial Events Release/ Block Relevant Events ENVIRONMENT+ EUC Spatial Cognition Safe Robotics Safe Wheelchair Reality RoboCup SLAM Navigation Assistant Working Group Cognitive Robotics 32

33 Our Teams Simulation League Small-Size League Sony Legged Robot League BUGS B-SMART Working Group Cognitive Robotics 33

34 Tasks S en s o r D at a S en s o r D at ap r o c es s o r C amer am at r ix Image ImageP r o c es s o r B lo b C o l lec t io n sensor processing B o d y P er c ep t P lay er s P er c ep t o r L in es P er c ep t o r P lay er s P er c ep t L in es P er c ep t L an d mar k s P er c ep t o r L an d mar k s P er c ep t B all P er c ep t o r B allp er c ep t object recognition R o b o t S t at ed et ec t o r R o b o t S t at e P lay er s L o c at o r P lay er P o s ec o llec t io n S elf L o c at o r R o b o t P o s e B alll o c at o r B allp o s it io n object modeling L E D R eq u es t B eh av io r C o n t r o l H ead C o n t r o lm o d e M o t io n R eq u es t behavior control L E D C o n t r o l H ead C o n t r o l M o t io n C o n t r o l motion control L E D V alu e H ead M o t io n R eq u es t J o in t D at ab u f f er O d o met r y D at a Working Group Cognitive Robotics 34

35 Process Layouts Input Robot Ball SelfLoc Players Debug Behavior Output Bremen Byters Process layout of the Bremen Byters Cognition Robot Debug Motion Humboldt 2002 Process layout of the Humboldt Heroes Working Group Cognitive Robotics 35

36 GermanTeam 2002 SimRobot RobotControl Working Group Cognitive Robotics 36

37 Localization Working Group Cognitive Robotics 37

38 Detecting Field Lines Working Group Cognitive Robotics 38

39 Projection on the Field Working Group Cognitive Robotics 39

40 Projection on the Field Working Group Cognitive Robotics 40

41 Localization Working Group Cognitive Robotics 41

42 Assigning Observations to Field Model Yellow Goal Lines Skyblue Goal Border Working Group Cognitive Robotics 42

43 Demo Working Group Cognitive Robotics 43

44 Impressions from Fukuoka Working Group Cognitive Robotics 44

45 Results of the GermanTeam Round Robin CMU GermanTeam Rome 5 : 0 CMU Rome 7 : 0 GermanTeam Tokyo 4 : 0 CMU Tokyo 5 : 1 GermanTeam CMU 1 : 3 CMU GeorgiaTech 7 : 0 GermanTeam GeorgiaTech 4 : 1 CMU Team Sweden 9 : 0 Quarterfinal CMU Melbourne 4 : 0 GermanTeam UNSW 1 : 6 UNSW UNSW Kyushu 7 : 0 UNSW Balkan 16 : 0 UNSW Washington 10 : 0 UNSW NewCastle 3 : 0 Final CMU UNSW 3 : 3 (5 : 4) Working Group Cognitive Robotics 45

46 Outlook Rolland Simultaneous localization and mapping (SLAM) Place integration Integration of additional sensor measurements Human-machine dialogs Augmenting maps by user interaction RoboCup RESEARCH CENTER Probabilistic world modeling and behavior German Open 2003 (Paderborn) WM in Padua, Italien Working Group Cognitive Robotics 46

47 For Further Information Working Group Cognitive Robotics 47