behavior-based - York Jong on Diigo

22 May 09

13 Jun 07

A Bot With Peripheral Vision

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5star 74x14 74x240 BEAM SC-Head behavior-based circuit electronics photopopper phototrope robot

I wanted to share an adaptation of the Schead v4, that I have been experimenting with. It is (for lack of a better term) a Master/Slave Schmitt Comparitor Head (M/S SC-H). With the addition of a 74 AC 240 or two (as motor drivers) and a pair of motors, you can put together an interesting little light seeking, wheeled robot with peripheral vision.
10 more annotations...
- Basically, what I did was to stack one SC-H on top of another
- As long as the light reaching the photo-bridge of the Master SC-H is balanced, then the Slave SC-H acts as a regular, lone SC-H would. So, if one of the slave photo-diodes detects more light then the other, the inverter that controls the motor on that side changes states and is now the same as the inverter of the Master SC-H tied to the same motor. This turns that motor off and the robot will pivot around the stopped wheel toward the greater light source until the light on each sensors is balanced and the motor again begins to turn.
- The Slave section has only two diodes (or one LED) between the photo-diodes. This makes it respond to smaller differences in light levels than does the Master part of the circuit
- The diodes between the photo-diodes create a constant voltage drop between the inputs of the inverters. They cause a dead band to exist between the thresholds of the two inverters. In a way they cause the circuit to act like a kind of window comparator. Without these diodes both inverters would always be in the same state. With them, there is a small range where their outputs are in opposite states.
- I am also using SCar to continue experimenting with Stacking separate Sensor/Behavior circuits onto a robot. I will post more as progress is made.
- Cheesy works very well. I?ve had fun making him chase a spot of light from a flashlight around on the floor. He has even been able to detect and react to the flashlight spot on the floor of the brightly lighted lab where I work.
- I?m using a 74 HC 139 to direct the outputs of the M/S SC-H circuit to the appropriate motor(s)

07 Jun 07

The Basics of Robot Control

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5star behavior-based comparison control deliberative hybird reactive robot

Think hard, then act
Don't think, (re)act
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- Think and act independently, in parallel
- Think the way you act.
- Thinking is slow.
  Reaction must be fast.
  Thinking allows looking ahead (planning) to avoid bad actions.
  Thinking too long can be dangerous (e.g., falling off a cliff,
  being run over).
  To think, the robot needs (a lot of) accurate information.
  The world keeps changing as the robot is thinking, so the slower
  it thinks, the more inaccurate its solutions.
- Reactive control is a technique for tightly
  coupling sensory inputs and effector outputs, to allow the robot to
  respond very quickly to changing and unstructured environments. Think
  of reactive control as as "stimulus-response".
- In deliberative control, the robot takes all
  of the available sensory information, and all of the internally stored
  knowledge it has, and it things ("reasons") about it in order to
  create a plan of action
- In hybrid control, the
  goal is to combine the best of both Reactive and Deliberative control.
  In it, one part of the robot's "brain" plans, while another deals with
  immediate reaction
- This requires a "third" part of the robot
  brain, and as a result these systems are often called "three-layer
  systems."
- Behavior-Based control is based on
  inspiration from biology, and tries to model how animal brains may
  deal with hard problems of both thinking and acting. Behavior-based
  systems, like hybrid systems, also have different "parts" or layers,
  but unlike hybrid systems, they are not as different from each other.
  All of them are encoded as behaviors, processes that take inputs and
  send outputs to each other, quite quickly. So if a robot needs to
  plan ahead, it does so in a network of behaviors which talk to each
  other and send information around, rather than a single planner, as
  with hybrid systems.

Behaviour Based Robotics vs. Deliberative Robotics

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behavior-based comparison deliberative robot

The robots do not build a model
of their world they simply act in response to the things they encounter
whilst existing there.
This form of robotics has proved to be
successful in environments that are unknown to the robot, environments
that are busy or noisy such as a place with moving objects or people
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- An important part of the behaviour
  based theory is "embodiment" This means that a robot must be embodied, have
  a presence (it is an entity in itself). In order to react the robot
  must be surrounded by the real world.
- Alan Turing the inventor of the Turing Test might have been the first
  to recognize this, in a paper he wrote in the mid 1940's entitled "Intelligent
  Machines" he suggest that for a machine to achieve some levels of intelligence
  (his example was" language") it must be embodied.
- Testing a behaviour based systems
  is quite different from deliberative systems. You can test individual
  parts of the system, you are able to build up the behaviours the robot will
  have and then test each for correctness.

Facilitating Robot Learning

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5star behavior-based imitation learning multi-robot robot theory

multi-robot learning
learning by imitation
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- uncertainty, non-stationarity, and real-time constraints
- innate structure and knowledge
- fast generalization
- gradually
- complex ecological niche
- goals in parallel
- multitude of tasks
- social context
- not optimality
- built-in structure
- structured
  reinforcement
- communication
- interaction with other agents

Behavior-Based Control: A Brief Primer

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5star behavior-based learning robot theory

Note that
behaviors themselves can have state, and can form representations when
networked together. Thus, unlike reactive systems, behavior-based
systems are not limited in their expressive and learning capabilities.
behavior-based systems attempt to make the
representation, and thus the time-scale, of the system uniform.
Behavior-based representations are parallel, distributed, and active

03 Jun 07

Stacked Behaviors

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4star BEAM behavior-based electronics robot

Stacking separate Sensor/Behavior circuits onto a robot. - yorkjong on 2007-05-30

BSIM User Manual

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Java behavior-based robot simulator

31 May 07

機器人編程技術

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5star autonomous behavior-based book choice embedded iRobot mobile programming robot

Robot Programming : A Practical Guide to Behavior-Based Robotics

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5star autonomous behavior-based book embedded iRobot mobile programming robot

Behavior-based robotics is quite simply the design of robots where there are no internal "models" of the environment. Instead, the robot's action is state-machine driven via inputs gleaned from the robot's sensors.

27 May 07

Basis Behaviors

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5star behavior-based robot theory

The basis behavior set of a system provides
elements that are not further reducible to each other and that, when
composed by sequential or concurrent execution, produce the complete
behavior repertoire for the system.
Such basis behaviors are
constructed, learned, or evolved from stable, robust interaction
dynamics between the agent/robot and its environment, and serve as a
substrate for the system's more complex behaviors.
1 more annotations...
- My work generalized the notion of basis behaviors to multi-robot
  interactions, and demonstrated how a small set of basis behaviors per
  robot can be used to demonstrate a rich repertoire of individual and
  group-level behaviors, including following, flocking, homing, herding,
  aggregation, dispersion, and formations.

26 May 07

York Jong's Library tagged behavior-based → View Popular

Flesh and Machines 我們都是機器人

A Bot With Peripheral Vision

The Basics of Robot Control

Behaviour Based Robotics vs. Deliberative Robotics

Facilitating Robot Learning

Behavior-Based Control: A Brief Primer

Stacked Behaviors

BSIM User Manual

機器人編程技術

Robot Programming : A Practical Guide to Behavior-Based Robotics

Basis Behaviors

我們都是機器人

Behavior-Based Robotics

Behavior based AI

Behavior-based robotics

Adaptive Robotics - Behavior-Based Robotics

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