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AuRA: Autonomous Robot Architecture
From: Integrating Behavioral, Perceptual, and World Knowledge in Reactive Navigation
Ron Arkin, 1990
Using World Knowledge & Reactive Schemas
• World knowledge can be used to determine the general area in which to move or look for a landmark
• When the landmark is found, then reactive navigation takes over
• Arkin’s claim: World knowledge is necessary for efficient, flexible, and generalizable navigation
• Do you agree?
Long Term Memory for persistent, a priori info
Short Term Memory for dynamically acquired info
Cartographer for building
a mapHomeostatic
control to monitor internal
conditions
Discussion Questions
• What is the best way of handling traps in vector potential fields? Noise addition, deadlines, or ??
• Can the noise schema ever cause the robot to become trapped beyond its capability to recover?
• Are there times when the methodology of low-level reactive planning will fail?
• What would happen if a motor schema failed to activate correctly, say, due to a hardware failure? Could the robot self-correct?
Discussion Questions• The output of the schemas is a velocity vector. Are we
assuming a nearly instantaneous change in velocity or a delay?
• In the experiments conducted, a particular velocity is used. What if the velocity were increased?
• How does the schema-based navigation relate to the way humans make navigational decisions?
• How would the potential field navigation be adaptable to 3 dimensions?
Discussion Questions• If the perceptual schema confidence exceeds the motor
schema threshold for action, the motor schema starts to produce a repulsive field surrounding the obstacle. Why?
• What happens if obstacles suddenly appear or disappear?• How does the robot adapt?• What environments are idea for the use of schema-based
navigation?