Mobile Robot Laboratory Research Projects


Integration with High-Level Reasoning


Project Director

Dr. Ashok Goel.

Projects

Multi-Strategy Systems

ROUTER

Router is an integrated planning and learning system for autonomous mobile robots. It integrates case-based and model-based reasoning for planning navigation paths in geographical spaces. In the model-based mode, the system plans paths by heuristically searching a hierarchical model of the navigation space; and in the case-based mode, it plans new paths by adapting and combining previously planned paths. It uses a form of meta-reasoning for selecting a specific method at run-time. It also chunks the new plans into cases for potential reuse.

RAURA

RAURA is an instantiation of ROUTER in the AuRA architecture (AuRA is a hybrid architecture for autonomous mobile robots capable of both deliberative planning and reactive control developed by the Robotics group).

REFLECS

REFLECS is a reflective system capable of learning strategies for reactive control by diagnosing and repairing failed reactive strategies.

Learning

AUTOGNOSTIC

AUTOGNOSTIC is a computational model of model-based self-redesign. The AUTOGNOSTIC project explores the issues of functional and strategic self-redesign in AI systems. The key idea is that AI systems, such as ROUTER, can be viewed as abstract devices and failure-driven learning can be viewed as device redesign problem solving. A meta-model of how the problem solving in the AI system works can enable the system to reflect on its experiences, especially its failures, and to redesign the problem solver.

Please send comments to: robot-lab-www@cc.gatech.edu