麻省理工学院：《自制决策制造原则》英文版 Introduction to Principles of Autonomy and Decision Making

Introduction to Principles of Autonomy and Decision Making Brian C. Williams 16410/16413 September 3 ra, 2003 Today's Assignment Read Chapters I and 2 of AIMA Artificial Intelligence: A Modern Approach by Stuart Russell and Peter Norvig 2nd Edition(not 1st Edition!! AIMA is available at the Coop

Brian C. Williams 16.410/16.413 September 3rd, 2003 Introduction to Principles of Autonomy and Decision Making 1 Brian C. Williams 16.410/16.413 September 3rd, 2003 Today’s Assignment Today’s Assignment • • Read Chapters 1 and 2 of AIMA ead Chapters 1 and 2 of AIMA – – ““Artificia Artificial Intelligenc l Intelligencee: A Modern Approach” : A Modern Approach” by Stuart Russell and Peter Norvig by Stuart Russell and Peter Norvig – 2nd Edition (not 1 – 2 st Edition!!) nd Edition (not 1st Edition!!) –– AIMA is available at the Coop AIMA is available at the Coop 1

Outline The promise of autonomous explorers The challenge of autonomous explorers Agents great and small Course objective 1(16.410/13) Principles for Building Agents Course objective 2(16.413) Building an Agent The Mars exploration rover(MEr) project

Outline Outline • The promise of au The promise of autonomous explorers tonomous explorers • The challenge of autonomous explorers The challenge of autonomous explorers • Agents great and s Agents great and small • Course objecti Course objective 1 (16.410/13): 6.410/13): –– Principle Principles for Building Agents s for Building Agents • Course objecti ourse objective 2 (16.413): 6.413): – B– Building a uilding ann Agent: Agent: The Mars exploration rover (MER) project. The Mars exploration rover (MER) project. 2

ImagetakenfromNasa'swebsitehttp://www.nasa.govcoUrtesyofKannaRajan Our vision in NASA is to open the Space Frontier.. We must establish a virtual presence, in space, on planets, in aircraft and spacecraft Daniel S Goldin, NASA Administrator, May 29, 1996

. Courtesy NASA/JPL-Caltech. http://www.jpl.nasa.gov A Image taken from NASA's website: http://www.nasa.gov Courtesy of Kanna Rajan. Frontier . . . spacecraft.’’ establish a virtual presence, in space, on planets, in aircraft and ``Our vision in NASA is to open the Space We must - Daniel S. Goldin, NASA Administrator, May 29, 1996 3

Motive: Follow the water to find evidence of past life on mars to study the forces that shaped Mars to develop future life on Mars CourtesyNasa/jPl-cAlteCh.http://www.jpl.nasa.gov Courtesy of Mars Motive: Follow the water to find evidence of past life on Mars to study the forces that shaped Mars to de Courtesy U.S. Geological Survey

Motive: Follow the water …. • to find evidence of past life on Mars. • to study the forces that shaped Mars. • to develop future life on Mars. Courtesy NASA/JPL-Caltech. http://www.jpl.nasa.gov Courtesy of Kanna Rajan. Mars Motive: Follow the water …. • to find evidence of past life on Mars. • to study the forces that shaped Mars. • to develop future life on Mars. Courtesy U.S. Geological Survey. 4

omet Nucleu Europa Orbiter Primitive Bodies Missions Pluto/Kuiper Express Neptune Orbiter Motive: life under Europa Cryobot CourtesyNasa/jPl-cAlteCh.http://www.jplnasa.go Courtesy of Kanna rajan

Inner and Outer Planets Missions MESSENGER mission to Mercury MESSENGER mission to Mercury Venus Sample Return Venus Sample Return Comet Nucleus Sample Return Primitive Bodies Missions Primitive Bodies Missions Pluto/Kuiper Express Europa Orbiter Europa Lander Neptune Orbiter Titan Explorer Cryobot & Hydrobot Motive: life under Motive: life under Europa? Courtesy NASA/JPL-Caltech. http://www.jpl.nasa.gov Courtesy of Kanna Rajan. 5

MIT SPHERES ImagetakenfromNasa'swebsitehttp://www.nasa.gov.Adapted.CourtesyofKannaRajan

MIT SPHERES Image taken from NASA's website. http://www.nasa.gov. Adapted. Courtesy of Kanna Rajan. 6

Cooperative Exploration Model-based Embedded Distributed pla CourtesyNasa/jPl-cAlteCh.http://www.jpl.nasagovCourtesyofKannaRajar Outline The promise of autonomous explorers The challenge of autonomous explorers Agents great and small Course objective 1(16.410/13) Principles for Building Course objective 2(16.413) Building n Age The Mars exploration rover(MER) project

Cooperative Exploration Distributed Planning Group, JPL Model-based Embedded and Robotic Systems Group, MIT Courtesy NASA/JPL-Caltech. http://www.jpl.nasa.gov Courtesy of Kanna Rajan. Outline Outline • The promise of autonomous explorers The promise of autonomous explorers • The challenge of autonomous explorers The challenge of autonomous explorers • Agents great and small Agents great and small • Course objective 1 (16.410/13): Course objective 1 (16.410/13): –– Principles for Building Agents Principles for Building Agents • Course objective 2 (16.413): Course objective 2 (16.413): – – Building Building an Agent: n Agent: The Mars exploration rover (MER) project. The Mars exploration rover (MER) project. 7

A Capable Robotic Explore Cassini ·7 year cruise Faster, Better, Cheaper 0300 ground operators . -1 billion S 2 year build 0 ground Four launches in 7 months Mars Clin iter:12/11/98 Mars Pola,kander: 1/3/99 tardust: 2/7/99 QuickSCAT: 6/19/98 courtesy of PL

A Capable Robotic Explorer: Cassini • 7 year cruise Faster, Better, Cheaper • ~ 150 - 300 ground operators •~ 1 billion $ •150 million $ • 7 years to •2 year build build • 0 ground ops Four launches in 7 months Mars Climate Orbiter: 12/11/98 /99 Stardust: 2/7/99 QuickSCAT: 6/19/98 Mars Polar Lander: 1/3 courtesy of JPL 8

Mars polar lander Spacecraft require a good physical commonsense Launch: 1/3/99 Traditional spacecraft commanding Gs, SITURN,490UA,BOTH,96-355/03:42:00.000; BOT CMD, 7VECT, 490UA412A4E, BOTH 56-255/03:∈:10.4自0 402412A4 406A4A,BT日96 cMD,7TAR,4901A412A4D6A4B,BDT日,当6-25/04=00:04.00 ,B0TH,96-39 MD,7日TAR,490A412A406A4D,BTB,56-35 B:7TA是;4301412464:于围::1(日4::16 Whats a better paradigm?

Mars Polar Lander L Spacecraft require a good physical commonsense… Launch: 1/3/99 Traditional spacecraft commanding 2; 6; , Whats a better paradigm? GS,SITURN,490UA,BOTH,96-355/03:42:00.000; CMD,7GYON, 490UA412A4A,BOTH, 96-355/03:47:00:000, ON; CMD,7MODE, 490UA412A4B,BOTH, 96-355/03:47:02:000, INT; CMD,6SVPM, 490UA412A6A,BOTH, 96-355/03:48:30:000, CMD,7ALRT, 490UA412A4C,BOTH, 96-355/03:50:32:000, CMD,7SAFE, 490UA412A4D,BOTH, 96-355/03:52:00:000, UNSTOW; C M D , 6 A S S A N , 4 9 0 U A 4 1 2 A 6 B , B O T H , 96-355/03:56:08:000, GV,153,IMM,231, GV,153; CMD,7VECT, 490UA412A4E,BOTH, 96-355/03:56:10.000, 0,191.5,6.5, 0.0,0.0,0.0, 96-350/ 00:00:00.000,MVR; SEB,SCTEST, 490UA412A23A,BOTH, 96-355/03:56:12.000 SYS1,NPERR; CMD,7TURN, 490UA412A4F,BOTH, 96-355/03:56:14.000, 1,MVR; MISC,NOTE, 490UA412A99A,, 96-355/04:00:00.000, ,START OF TURN;, CMD,7STAR, 490UA412A406A4A,BOTH 96-355/04:00:02.000, 7,1701, 278.813999,38.74; CMD,7STAR, 490UA412A406A4B,BOTH, 96-355/04:00:04.000, 8,350,120.455999, -39.8612; CMD,7STAR, 490UA412A406A4C,BOTH, 96-355/04:00:06.000, 9,875,114.162, 5.341; CMD,7STAR, 490UA412A406A4D,BOTH, 96-355/04:00:08.000, 10,159,27.239, 89.028999; CMD,7STAR, 490UA412A406A4E,BOTH, 96-355/04:00:10.000, 11,0,0.0,0.0; CMD,7STAR, 490UA412A406A4F,BOTH, 96-355/04:00:12.000, 21,0,0.0,0.0; 9

Outline The promise of autonomous explorers The challenge of autonomous explorers Agents great and small Course objective 1(16.410/13) Principles for Building Agents Course objective 2(16.413) Building an Agent The Mars exploration rover(MER) project Agents and Intelligence sensors percepts environment agent actions effectors Adaoted from J. Malik, U.C. Berkeley

Outline Outline •The promise of au he promise of autonomous explorers tonomous explorers •The challenge of autonomous explorers he challenge of autonomous explorers • • Agents great and s gents great and small • • Course objecti ourse objective 1 (16.410/13): 6.410/13): – – Principle Principles for Building Agents s for Building Agents •Course objecti ourse objective 2 (16.413): 6.413): – – BBuilding a uilding ann Agent: Agent: The Mars exploration rover (MER) project. The Mars exploration rover (MER) project. Agents and Intelligence Agents and Intelligence Adaoted from J. Malik, U.C. Berkeley 10