A Mobile Automaton: An Application of Artificial Intelligence Techniques

Abstract

A research project applying artificial intelligence techniques to the development of integrated robot systems is described. The experimental facility consists of a n SDS-940 computer and associated programs controlling a wheeled vehicle that carries a TV came r a and other sensors. The primary emphasis is on the development of a system of programs for processing sensory data from the vehicle, for storing relevant information about the environment, and for planning the sequence of motor actions necessary to accomplish tasks in the environment. A typical task performed by our present system requires the robot vehicle to rearrange (by pushing) simple objects in its environment. A novel feature of our approach is the use ofa formal theorem-proving system to plan the execution of high-level functions as a sequence of other, perhaps lo were level, functions. The execution of these, in turn, requires additional planning at lower levels. The main theme of the research is the integration of the necessary planning systems, models of t he world, and sensory processing systems into an efficient whole capable of performing a wide range of tasks in a real environment. Key Words Robot Robot System Visual Processing Problem-Solving Question-Answering Theorem-Proving Models of the World Planning Scene Analysis Mob ile Automaton