Title:
ARCHITECTURE FOR ROBOT INTELLIGENCE
Document Type and Number:
WIPO Patent Application WO2002081156
Kind Code:
A3
Abstract:
An architecture for robot intelligence enables a robot to learn new behaviors and create new behavior sequences autonomously and interact with a dynamically changing environment. Sensory information is mapped onto a Sensory Ego-Sphere (SES) that rapidly identifies important changes in the environment and functions much like short term memory. Behaviors are stored in a DBAM that creates an active map from the robot's current state to a goal state and functions much like long term memory. A dream state converts recent activities stored in the SES and creates or modifies behaviors in the DBAM.
Inventors:
PETERS RICHARD ALAN II
Application Number:
PCT/US2002/011227
Publication Date:
December 11, 2003
Filing Date:
April 08, 2002
Export Citation:
Assignee:
UNIV VANDERBILT (US)
International Classes:
B25J9/16; B25J13/00; B25J9/22; G06F15/18; G06N3/00; G06N3/08; (IPC1-7): B25J9/16
Other References:
PETERS R A II, KAWAMURA K, WILKES D M, GAINES D M, AMBROSE R O: "Robot Learning and Problem Solving through Teleoperation with Application to Human-Robot Teaming - A White Paper", 29 November 2000 (2000-11-29), XP002243389, Retrieved from the Internet [retrieved on 20030603]
K. KAWAMURA, A. ALFORD, K. HAMBURCHEN, M. WILKES: "Towards a Unified Framework for Human-Humanoid Interaction", FIRST IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, 7 September 2000 (2000-09-07) - 8 September 2000 (2000-09-08), Cambridge, MA, USA, XP002243390, Retrieved from the Internet [retrieved on 20030603]
KAWAMURA K ET AL: "ISAC: FOUNDATIONS IN HUMAN-HUMANOID INTERACTION", IEEE INTELLIGENT SYSTEMS, IEEE COMPUTER SOCIETY, LOS ALAMITOS, CA, US, vol. 15, no. 4, July 2000 (2000-07-01), pages 38 - 45, XP001083405, ISSN: 1094-7167
BAGCHI S ET AL: "Interactive task planning under uncertainty and goal changes", ROBOTICS AND AUTONOMOUS SYSTEMS, ELSEVIER SCIENCE PUBLISHERS, AMSTERDAM, NL, vol. 18, no. 1, 1 July 1996 (1996-07-01), pages 157 - 167, XP004007603, ISSN: 0921-8890
ALBUS J S: "OUTLINE FOR A THEORY OF INTELLIGENCE", IEEE TRANSACTIONS ON SYSTEMS, MAN AND CYBERNETICS, IEEE INC. NEW YORK, US, vol. 21, no. 3, 1 May 1991 (1991-05-01), pages 473 - 509, XP000228689, ISSN: 0018-9472
TIÈCHE F ; FACCHINETTI C ; HÜGLI H: "A behaviour-based architecture to control an autonomous mobile robot", PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON INTELLIGENT AUTONOMOUS SYSTEMS (IAS-4), KARLSRUHE, GERMANY, 27 March 1995 (1995-03-27) - 30 March 1995 (1995-03-30), IOS Press, Amsterdam, Netherlands, XP002243391, Retrieved from the Internet [retrieved on 20030604]
HEXMOOR H, LAMMENS J, SHAPIRO S: "An Autonomous Agent Architecture for Integrating Perception and Acting with Grounded, Embodied Symbolic Reasoning", TECHNICAL REPORT 92-21, UNIVERSITY OF BUFFALO, USA, 9 November 1992 (1992-11-09), XP002243392, Retrieved from the Internet [retrieved on 20030604]
GOODRICH M A, BOER E R, INOUE H: "Brake Initiation and Braking Dynamics: A Human-Centered Study of Desired ACC Characteristics", CAMBRIDGE BASIC RESEARCH, TECHNICAL REPORT CBR TR 98-5, 1 December 1998 (1998-12-01), XP002243393, Retrieved from the Internet [retrieved on 20030604]
K. KAWAMURA, A. ALFORD, K. HAMBURCHEN, M. WILKES: "Towards a Unified Framework for Human-Humanoid Interaction", FIRST IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, 7 September 2000 (2000-09-07) - 8 September 2000 (2000-09-08), Cambridge, MA, USA, XP002243390, Retrieved from the Internet
KAWAMURA K ET AL: "ISAC: FOUNDATIONS IN HUMAN-HUMANOID INTERACTION", IEEE INTELLIGENT SYSTEMS, IEEE COMPUTER SOCIETY, LOS ALAMITOS, CA, US, vol. 15, no. 4, July 2000 (2000-07-01), pages 38 - 45, XP001083405, ISSN: 1094-7167
BAGCHI S ET AL: "Interactive task planning under uncertainty and goal changes", ROBOTICS AND AUTONOMOUS SYSTEMS, ELSEVIER SCIENCE PUBLISHERS, AMSTERDAM, NL, vol. 18, no. 1, 1 July 1996 (1996-07-01), pages 157 - 167, XP004007603, ISSN: 0921-8890
ALBUS J S: "OUTLINE FOR A THEORY OF INTELLIGENCE", IEEE TRANSACTIONS ON SYSTEMS, MAN AND CYBERNETICS, IEEE INC. NEW YORK, US, vol. 21, no. 3, 1 May 1991 (1991-05-01), pages 473 - 509, XP000228689, ISSN: 0018-9472
TIÈCHE F ; FACCHINETTI C ; HÜGLI H: "A behaviour-based architecture to control an autonomous mobile robot", PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON INTELLIGENT AUTONOMOUS SYSTEMS (IAS-4), KARLSRUHE, GERMANY, 27 March 1995 (1995-03-27) - 30 March 1995 (1995-03-30), IOS Press, Amsterdam, Netherlands, XP002243391, Retrieved from the Internet
HEXMOOR H, LAMMENS J, SHAPIRO S: "An Autonomous Agent Architecture for Integrating Perception and Acting with Grounded, Embodied Symbolic Reasoning", TECHNICAL REPORT 92-21, UNIVERSITY OF BUFFALO, USA, 9 November 1992 (1992-11-09), XP002243392, Retrieved from the Internet
GOODRICH M A, BOER E R, INOUE H: "Brake Initiation and Braking Dynamics: A Human-Centered Study of Desired ACC Characteristics", CAMBRIDGE BASIC RESEARCH, TECHNICAL REPORT CBR TR 98-5, 1 December 1998 (1998-12-01), XP002243393, Retrieved from the Internet
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