1. CS 4630: Intelligent Robotics and Perception
Tucker Balch
Wonderful to be here!
This is work led by me in collaboration with my graduate students at CMU
I am going to focus on work begun over the last year that I plan to continue in the future
General -- collaborations

2. Foraging Robots (1994) Balch, et al, AI Magazine, 1995. Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

3. Foraging Robots (1997) Balch, AI Magazine, 1997.
Balch, Autonomous Robots, 2000.
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

4. Foraging Robots (2001) Stroupe & Balch, submitted.
Emery & Balch, submitted.
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

5. Foraging Robots ( )
Basic Foraging Heterogeneous Communication & Cooperation Behaviors & Coordination
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

6. Behavior-Based Control: Biological Inspiration
Food
Barrier X
Frog
Arbib, 198?
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

7. Behavior-Based Control: Biological Inspiration
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

8. Behavior-Based Control: Biological Inspiration
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

9. Behavior-Based Control: Biological InspirationX
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

10. Behavior-Based Control: Biological Inspiration
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

11. Behavior-Based Control: Biological Inspiration
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

12. Motor Schemas
Multiple independent processes each generate a vector combined by weighted summation
Computationally simple and fast
Enables design by composition. (Arkin 1989)
Related to artificial potential fields
Khatib (85), Krogh (84), Payton (89), Singh (98)
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

13. Motor Schemas
Multiple independent processes each generate a vector combined by weighted summation
Computationally simple and fast
Enables design by composition. (Arkin 1989)
Related to artificial potential fields
Khatib (85), Krogh (84), Payton (89), Singh (98)
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

14. Motor Schemas
Multiple independent processes each generate a vector combined by weighted summation
Computationally simple and fast
Enables design by composition. (Arkin 1989)
Related to artificial potential fields
Khatib (85), Krogh (84), Payton (89), Singh (98)
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

15. Motor Schemas
Multiple independent processes each generate a vector combined by weighted summation
Computationally simple and fast
Enables design by composition. (Arkin 1989)
Related to artificial potential fields
Khatib (85), Krogh (84), Payton (89), Singh (98)
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

16. Motor Schemas
Multiple independent processes each generate a vector combined by weighted summation
Computationally simple and fast
Enables design by composition. (Arkin 1989)
Related to artificial potential fields
Khatib (85), Krogh (84), Payton (89), Singh (98)
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

17. Motor Schemas: Move to Goal
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

18. Motor Schemas: Avoid Obstacle
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

19. Motor Schemas: Avoid Obstacle + Move to Goal
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001

20. Behavior Based Pushing
Tucker Balch
Georgia Institute of Technology
AMiRE
October, 2001