A Mobile Automaton: An Application of Artificial Intelligence Techniques
by Nilsson, N.J.
Technical Note 40
Institution: AI Center, SRI International
Address: 333 Ravenswood Ave, Menlo Park, CA 94025
Note: SRI Project 7494
A research project applying artificial intelligence techniques to the development of integrated robot systems is described. The experimental facility consists of an SDS-940 computer and associated programs controlling a wheeled vehicle that carries a TV camera and other sensors. The primary emphasis is on the development of a system of programs for processing sensory data from the vehicle, for storing relevant information about the environment, and for planning the sequence of motor actions necessary to accomplish tasks in the environment. A typical task performed by our current system requires the robot vehicle to rearrange (by pushing) simple objects in its environment.
A novel feature of our approach is the use of a formal theorem-proving system to plan the execution of high- level, functions. Their execution in turn, requires additional planning at lower levels. The main the me of the research is the integration of the necessary planning systems, models of the world, and sensory processing systems into an efficient whole capable of performing a wide range of tasks in a real environment.
A continuation of the original Shakey robot project, investigating AI problems involved in developing a robot.
|Nilsson, Nils J||Alumnus|