Increasing Demand of Robots • Robot will be required to operate in homes and in hospitals to service the rapidly aging population. • Will be required to mine and farm in increasingly remote areas. • Robots will need to perform tasks beyond their explicitly pre-programmed behaviors and quickly adapt to variable nature of tasks
To perform all these tasks Robot will need to carry powerful computersand large batteries to power them .
Navigating to the Grasping and pickingLocating the bottle up the bottle bottle’s position Robot AGiving the bottle to Navigating towards the Locating the patient the patient patient
Queries the Downloads theRobot B database for knowledge relevant information Sends it’s experience Perform the specific to the database task
• The information downloaded provides a useful starting point.• The detailed object models can increase the speed and reliability of Robot B• A set of collected information can guide the 2nd robot’s search and execution strategy.• As the two robots continue to perform their tasks and pool their data, the quality of prior information will improve and begin to reveal underlying patterns and correlations about robots and their environment.• The availability of such prior information is a necessary condition for robots to operate in a more complex, unstructured environments.
Server• Core layer• Holds database• Accessible via common web interfaces• Contains CAD models, point-clouds and image data• Maps are saved as compressed archives• Robot task description stored as human readable action recipe• Action recipe arranged in a hierarchy
Server e Ob e cip n r ns •T jec on o cti trai •D ype•L ime s ts cti u a b- ons ter f s g c me oc n at sio ion n s Environment A o ist erin par a •Maps for • L rd n • O ctio self-localization •A
Interfaces1. Web interface2. Based on Representation State Transfer (RSET) architecture.3. Based on publish/subscribe message exchange pattern
Generic ComponentsAction Execution : Determining and checking the availability of a set of skills required for the task. Finding an ordering among them that satisfies the ordering constraints. Linking a robot’s perceptions to the abstract task description given by action recipe. Reliable action execution.
Environment Modeling1. World model component combine prior information available via database with robot sensory input2. To guarantee fast and safe performance it uses a two-level approach. Semantic Mapping • RoboEarth database provides generic action recipes defined in terms of robot’s skills, its environment, and the objects it is going to interact.
Learning1. Repeated use of action recipes an skills offers many opportunities to improve the reliability and performance of action execution.
Robot SpecificAction and situation recognition and labeling• The generation of useful, transferable action recipes and their successful reuse is challenging task• The recognition and labeling component is designed to simplify the generation of new action by abstracting from the robot- specific low level layer and aggregating subsequent steps that belong to one complex task into an abstract task description.• Essential for learning new recipes by demonstration.
Skill Abstraction Layer and Robot Specific Components : • Provides a generic interface to robot’s specific, hardware- dependent functionalities.
Benefits• Provides a shared knowledge i.e. organizes and unifies information about the worldin a format usable by robots.• Offloads heavy computing tasks to the cloud.• Longer battery life.• Less need for software upgrades are invisible and hassle- free.• Reusable library of “skills” or behaviors that map to perceived task requirements / complex situations.• Data-mining the history of all cloud-enabled robots.
I need a helicopter pilot program…. Trinity from Matrix