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COURSE
Undergraduate course (Spring 2019)
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Our Introduction
• Student:
– Name, specialization, what you love?
– How did you know the course?
– What do you think about the course?
– What do you expect?
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Course Objective
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Need some information
• Pre-course:
– Python, Ubuntu
– Robotics??
– Artificial intelligence,
– Machine learning,
– Computer Vision
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Course Information
• What is in the course
– Introduction to Artificial intelligence and Autonomous Robots
– Simple Robotics Programming on Virtual Environment
– Robot perceptron: vision, sound
– Mobile robots: Robot Localization and Mapping
– Manipulated robots: Path Planing and Controlling
– Intelligence robots: Machine learning, Reinforcement learning
(advanced)
– Assigments and Grade systems
– Orders and contents may change during the course
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Lecturers
• Instructors: Nguyen Do Van, PhD
• Practice Instructor: (Decide later)
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ARTIFICIAL INTELLIGENT AND ROBOTS
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Intelligent Robots
• Mechanical creature which can function autonomously
• Mechanical: built, constructed
• Creature: think of it as an entity with its own motivation,
decision making process
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Intelligent Robots
• Basic robot primitives: Sense/Learning/Think/Act
• Three Acting Paradigms:
– Hierarchical: Sensing -> Planning -> Acting
– Reactive: Sensing -> Acting
– Hybrid: Planning -> Sensing -> Acting
• Learning to think, learning to act
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Heuristic planning to learning
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Warehouse Robots
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Home Assistant Robots
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WHAT IN THE COURSE
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AI and Robotics
• Robotics
– Autonomous control
– Mechanism, planning and navigation
– Sensoring
• Autonomous Robots
– Robot Mechanism
– Navigation
– Sensor-driven
• Intelligent Robots
– Intelligent systems
– Learning Robots
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Virtual Invironment
• AI2-THOR v1.0 consists of 120 near photo-realistic 3D scenes
spanning four different categories: kitchen, living room,
bedroom, and bathroom
• Concepts
– Agent
– Scene
– Action
– Object Visibility
– Receptacle
Machine Learning
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Perceptron - Computer Vision
– Computer vision is the task of
understanding the images captured by a
camera
– Vision tasks that are simple for humans to
do, can be very difficult for a computer
– For example, color each fruit a different color
garden, spring,
bridge, water,
trees, flower,
green, etc.
Computer Vision for Robotics
• Objects Recognition and Object Tracking
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Dead Reckoning
• Estimates a position based on the change from a previous position
– Estimate its position using only sensors that are available on the robot
• Does not require maps or outside references
– Robot’s location require maps or external references like GPS or signal strength
– Perform even when the robot is in unfamiliar territory and is unable to
communicate.
• Utilizes sensor data and the precise physical measurement of the robot:
– Internal sensor to estimate distance of travel
– Robot information: physical dimensions, size of its wheels, layout of the wheels
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Sensor Fusion
• Each type of sensor offers different information about the
environment
• Combining data from multiple sensors improves the ability of a
robot to understand the world
– Compass and gyroscope for dead-reckoning: Combine with Accelerometer
to determine linear velocity
• Sometimes sensors disagree, so engineers must design ways to
reconcile different inputs.
– Some sensors may have high uncertainty
– Detecting faults in sensors is made easier when multiple sensors are used
because errant measurements will be more obvious.
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Planning and Controlling
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Localization and Mapping
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Features in Machine Learning
– Features are the observations that are used to form predictions
– For image classification, the pixels are the features
– For voice recognition, the pitch and volume of the sound samples are the features
– For autonomous cars, data from the cameras, range sensors, and GPS are features
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Lab introduction
• HMI Lab:
– https://hmiuet.wordpress.com
– https://www.facebook.com/hmiuet/
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Artificial Intelligence – Computer Vision Group
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Intelligent Robot Team
Recruit:
AI & CV group member
Intelligent Robot Team Member
Seminar: Saturday, 101, G2
Lab: 307, E3
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What do WE do?
• Instructors, TA: Give lectures
• Students: Comprehend and Do Assignments
• WE: Do together
• Q&A
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