Lect 13-16 Flashcards
What is Hybrid Architecture?
To cope with the problem of behavioral based robotics. It has both reactive and deliberative layers. Deliberative layer (high level) (world model | plan) not everything is captured in the world model.
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Reactive Layer (lower layer)
sense-act couples (behaviours)
PLAN THEN SENSE ACT
BEHAVIORAL BASED ROBOTICS DID NOT NEED A WORLD MODEL, WORLD WAS OUR MODEL. UNLIKE BEHAVIOUR BASED ROBOTICS, IN ORDER TO PLAN WE NEED A WORLD MODEL.
Plan selects the couple sense-act and this behaviour remains active until another plan is executed.
What is 3 TIRED Hybrid Architecture?
Clear seperation between the deliberative and reactive layers.
PLANNER(deliberative)
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SEQUENCER(almost between them)
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REACTIVE LAYER
NOW WE HAVE A COMMUNICATION BETWEEN HIGH AND LOW LEVEL
Sequencer: Monitors the execution of plans and speaks with behaviours.
When we don’t have a clear separation between the reactive and deliberative, it is not certain that which part of planner will communicate with behaviour or which behaviours communicate with planner.
What is 3 TIRED Hybrid model and the definition of each layer?
Upper Level: PLANNER
Mission generating and monitoring
NEEDS PAST PRESENT AND FUTURE
Lower level: (SEQUENCER)
Selection of behaviours and accomplish tasks. Monitors each behaviour and if failure stop one behaviour and start the other.
NEEDS PAST AND PRESENT
What are the time horizons for 3 TIRED Hybrid model?
DELIBERATIVE(PLANNER) PRESENT+PAST+FUTURE ""SLOW"" | SEQUENCER PRESENT PAST ""FAST"" | REACTIVE PRESENT ""VERY FAST""
What are the different functionalities of architectures?
Planner
Sequencer
Reactive
Learn
Given the autonomy has a different programming style, what is it?
Summary of 3T Hybrid: 1-Deliberative Planner: Primitives: Sense-Plan-Act Perception: Recognition (deliberative) Model: Global Planning Horizon: Past present future Time Scale: Slow 2- Deliberative Sequencer: Primitives: Sense-Plan-Act Perception: Recognition Model : Global Planning horizon: Present past Time Scale: Fast
3- Reactive Primitives: Sense-Act Perception: Direct Planning horizon: Present Model: Local Time Scale: Very Fast
What is canonical operational architecture?
Each layer has different style of program organization.
Not concerned with details of interaction layer
Interaction Layer (procedural, functional languages) | Deliberative Layer(functional languages) | Behavioural Layer (Procedural languages)
Can intelligence added in layers?
Yes intelligence can be organized in layers. But it is not an easy task to do. Everytime you add a new layer, you need to check if everything is okey with the lower layers and you need to design a proper interaction with the lower layers.
Illustrate paradigms for programming robot software architectures *** ?
https://en.wikipedia.org/wiki/Robotic_paradigm
The PARADIGM OF AI?
Sense -> Plan -> Act(returns to sense)
The robot perceives the world and builds a global map.
The robot plans all the directives required to reach the final goal.
Robot acts to execute the first directive and cycles it again
Sense as an input, plan and decide on what to do by running its algorithm to express and action.
Could be good for a closed world assumption. But playing football(ex of open world) it can not predict what others will do. Because the world keeps changing.
What is integrator company?
Buys robot from manifacturars and they take this robot and apply them specific needs of manufacturing companies.
What are 3 paradigms of system architectures?
Hierarchical(deliberative), reactive, hybrid deliberative and reactive
3 functionalities: sense plan act learn
What are the types of architectures? 3 layers of architectures
Operational,System,Technical
What are the subsystems in a systems architecture? 5 subsystems in general
Navigation Cartographer,World model,World map Planning(generating mission, implementing..) Motor schemas,behaviours Perception sensing
AI primitives within an agent
Sense Plan Act Learn
