| Preface |
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xiii | |
| Acknowledgements |
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xxiii | |
| About the Author |
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xxv | |
| Section I: Theory |
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Chapter 1 ...and then there were mobile robots |
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3 | (28) |
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1.1 Early Pioneers And The Story Till Shakey |
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3 | (11) |
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9 | (3) |
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1.1.2 Shakey and the Stanford Cart |
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12 | (2) |
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1.2 Current-Day Mobile Robotics |
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14 | (5) |
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1.3 Cultural And Social Impact |
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19 | (12) |
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1.3.1 Science fiction, entertainment industry, medical surgery and military |
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20 | (6) |
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1.3.2 Do robots pose a threat for human beings? |
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26 | (5) |
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Chapter 2 Embodied AI, or the tale of taming the fungus eater |
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31 | (56) |
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31 | (1) |
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2.2 Artificial Intelligence For Robots |
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31 | (5) |
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2.2.1 What is an 'agent' ? |
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34 | (2) |
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2.3 Embodied Al-Making Of Autonomous Agents |
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36 | (5) |
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2.3.1 Toda's model for fungus eaters |
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36 | (1) |
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2.3.2 Design principles for autonomous AI agents |
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37 | (4) |
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2.4 Anthropomorphism-A Treasure Trove From Mother Nature |
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41 | (24) |
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2.4.1 Concepts from semiotics 'UMWELT' |
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41 | (2) |
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2.4.2 Concepts from ecology Uniqueness of vision |
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43 | (3) |
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2.4.3 Concepts from psychology-Behaviourism |
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46 | (3) |
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2.4.4 Artificial animals-ANIMAT |
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49 | (16) |
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2.5 Evaluating Performance-AI Vs. Engineering |
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65 | (6) |
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2.6 Three Forks In The Road |
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71 | (16) |
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2.6.1 The problem of completeness Planning is NP-hard |
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73 | (1) |
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2.6.2 The problem of meaning-The symbol grounding problem |
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74 | (3) |
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2.6.2.1 Solving the symbol grounding problem |
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75 | (2) |
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2.6.3 The problem of relevance The frame problem |
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77 | (22) |
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2.6.3.1 Representations-The root of all evil |
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79 | (8) |
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Chapter 3 Control paradigms for mobile robots |
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87 | (44) |
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87 | (3) |
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3.2 Braitenberg's Vehicles 1 To 4-Engineering Behaviour |
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90 | (9) |
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3.3 Deliberative Approach |
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99 | (4) |
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3.3.1 Shortcomings of the deliberative approach |
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99 | (2) |
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3.3.2 From animals to robots |
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101 | (1) |
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3.3.3 Robots and computers are fundamentally different |
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101 | (2) |
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103 | (11) |
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3.4.1 Subsumption architecture and the nouvelle AI |
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105 | (3) |
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108 | (3) |
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3.4.3 Action selection & bidding mechanisms |
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111 | (3) |
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3.5 A Critique Of The Nouvelle AI |
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114 | (8) |
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3.5.1 Issues with the nouvelle AI |
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116 | (3) |
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3.5.1.1 Implementation issues in subsumption architecture |
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116 | (2) |
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3.5.1.2 Issues with motor schema |
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118 | (1) |
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3.5.2 Extending reactive approach to higher functions |
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119 | (3) |
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122 | (9) |
| Section II: Implementation, or How to Make Robots |
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Chapter 4 Tools for a roboticist |
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131 | (24) |
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4.1 The Tools: Navigation And Adaptivity |
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131 | (3) |
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4.2 Navigation, Path Planning And Mapping |
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134 | (15) |
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4.2.1 A* and bug algorithms |
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134 | (1) |
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4.2.2 Considerations for navigation |
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135 | (2) |
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4.2.3 Artificial potential fields |
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137 | (9) |
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4.2.4 Nearness Diagram (ND) |
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146 | (2) |
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4.2.5 Navigation in three dimensions |
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148 | (1) |
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4.3 Adaptibility And Learning |
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149 | (6) |
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Chapter 5 Software, simulation & control |
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155 | (22) |
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5.1 Software For Robotics |
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155 | (5) |
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5.2 A Very Short Introduction To ROS |
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160 | (17) |
| Section III: Robot-Robot & Human-Robot Interactions |
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Chapter 6 Robot-robot interaction, groups and swarms |
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177 | (24) |
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177 | (1) |
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178 | (3) |
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181 | (20) |
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6.3.1 Relating agent behaviour to the collective behaviour |
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185 | (1) |
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6.3.2 Signatures of swarm robotics |
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186 | (3) |
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6.3.2.1 Minimalism: Non-intelligent robot, intelligent swarm |
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187 | (1) |
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6.3.2.2 Stigmergy: Indirect interactions |
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187 | (1) |
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6.3.2.3 Emergence: Swarm behaviour is difficult to model |
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188 | (1) |
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6.3.2.4 Phase change: Disorder to order |
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189 | (1) |
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6.3.2.5 Self organisation: A dynamically stable swarm |
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189 | (1) |
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6.3.3 Metrics for swarm robotics |
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189 | (2) |
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6.3.4 Swarm Engineering Visions for a new technology |
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191 | (10) |
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Chapter 7 Human-robot interaction and robots for human society |
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201 | (38) |
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7.1 Human-Robot Interaction |
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201 | (3) |
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7.1.1 Distributed cognition |
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204 | (1) |
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204 | (10) |
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7.2.1 Design for social robots |
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207 | (7) |
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208 | (2) |
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210 | (2) |
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7.2.1.3 Natural language processing (NLP) |
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212 | (2) |
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214 | (19) |
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7.3.1 Service robots, with a social face |
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214 | (3) |
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7.3.1.1 CERO Cooperative embodied robot operator |
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214 | (3) |
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7.3.2 Robots in elderly care |
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217 | (1) |
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7.3.2.1 Care-O-bot 3 The smart butler |
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217 | (1) |
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7.3.2.2 Hobbit-Returning a robot's favour |
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217 | (1) |
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7.3.3 Companion robot and robot therapy |
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218 | (7) |
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7.3.3.1 Paro-The cute robotic seal |
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220 | (2) |
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7.3.3.2 KASPAR Kinesics and synchronization in personal assistant robotics |
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222 | (3) |
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7.3.4 Museum guide and receptionist robots |
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225 | (5) |
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7.3.5 Functional robots, more than just smart machines |
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230 | (27) |
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7.3.5.1 Explorer robots-new age fungus eaters |
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230 | (1) |
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7.3.5.2 Search and rescue robots |
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231 | (2) |
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7.4 Japan, Robot History In The Making |
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233 | (6) |
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Chapter 8 Robots with moral agency, in the footsteps of Asimov |
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239 | (44) |
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8.1 The Need For The Good Robot |
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239 | (3) |
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242 | (8) |
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8.3 Asimov's 3 Laws And Their Limitations |
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250 | (7) |
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8.4 Ethical Theory For Robots |
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257 | (16) |
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257 | (2) |
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259 | (2) |
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8.4.3 Deontology vs. Consequentialism-The trolley problem |
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261 | (4) |
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8.4.4 Implementing ethics as an architecture |
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265 | (7) |
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8.4.4.1 The ethical architecture action logic, in military robots |
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265 | (5) |
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8.4.4.2 Consequence engine using fast simulations for internal models |
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270 | (2) |
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8.4.4.3 First implementation, development of a carer robot with deontic ethics |
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272 | (1) |
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272 | (1) |
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8.5 Social Changes And The Near Future |
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273 | (10) |
| Section IV: ...the Future |
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Chapter 9 Quest for the sentient robot |
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283 | (48) |
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9.1 Can Robots Be Conscious? |
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283 | (2) |
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9.2 Self Awareness, Consciousness And Free Will |
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285 | (7) |
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285 | (1) |
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286 | (5) |
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291 | (1) |
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9.3 From Machines To (Near) Human Beings |
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292 | (5) |
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9.4 Semi-Sentient Paradigm And It's Limitations |
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297 | (5) |
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9.5 Memories, Meditation And The Inner World |
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302 | (2) |
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9.6 Experiments-Cog, Mirror Cognition And The 3 Wise Robots |
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304 | (27) |
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9.6.1 From reactive architecture |
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304 | (5) |
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305 | (1) |
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9.6.1.2 Consciousness based architecture |
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306 | (3) |
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9.6.2 From cross-modal bindings |
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309 | (3) |
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9.6.2.1 Cog's tambourine experiment |
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310 | (1) |
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310 | (2) |
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312 | (9) |
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9.6.3.1 A very simple implementation of the mirror test in robots |
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312 | (1) |
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9.6.3.2 Haikonen's somatosensory model |
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313 | (1) |
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9.6.3.3 Designing the mirror test with MoNADs |
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314 | (7) |
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9.6.4 Psychometric AI The knowledge game |
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321 | (10) |
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Chapter 10 Super intelligent robots and other predictions |
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331 | (30) |
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10.1 Peering Into The Crystal Ball |
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331 | (5) |
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10.2 Twilight Or Rebirth Of Our Civilisation? |
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336 | (6) |
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10.3 Superintelligence, Future Technology And Ray Kurzweil |
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342 | (19) |
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10.3.1 Super intelligence |
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347 | (3) |
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10.3.2 "To singularity and beyond" |
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350 | (6) |
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10.3.3 Alternate opinions & containment of AI |
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356 | (5) |
| Appendix A: Running The Examples |
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361 | (2) |
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A.1 Braitenberg Simulator |
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361 | (1) |
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361 | (2) |
| References |
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363 | (26) |
| Index |
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389 | |
Lisainfo e-raamatute kohta