An approach to autonomous science by modeling geological knowledge in a Bayesian framework

© 2017 IEEE. Autonomous Science is a field of study which aims to extend the autonomy of exploration robots from low level functionality, such as on-board perception and obstacle avoidance, to science autonomy, which allows scientists to specify missions at task level. This will enable more remote and extreme environments such as deep ocean and other planets to be studied, leading to significant science discoveries. This paper presents an approach to extend the high level autonomy of robots by enabling them to model and reason about scientific knowledge on-board. We achieve this by using Bayesian networks to encode scientific knowledge and adapting Monte Carlo Tree Search techniques to reason about the network and plan informative sensing actions. The resulting knowledge representation and reasoning framework is anytime, handles large state spaces and robust to uncertainty making it highly applicable to field robotics. We apply the approach to a Mars exploration mission in which the robot is required to plan paths and decide when to use its sensing modalities to study a scientific latent variable of interest. Extensive simulation results show that our approach has significant performance benefits over alternative methods. We also demonstrate the practicality of our approach in an analog Martian environment where our experimental rover, Continuum, plans and executes a science mission autonomously

Data-Driven Predictive Modeling to Enhance Search Efficiency of Glowworm-Inspired Robotic Swarms in Multiple Emission Source Localization Tasks

In time-sensitive search and rescue applications, a team of multiple mobile robots broadens the scope of operational capabilities. Scaling multi-robot systems (\u3c 10 agents) to larger robot teams (10 – 100 agents) using centralized coordination schemes becomes computationally intractable during runtime. One solution to this problem is inspired by swarm intelligence principles found in nature, offering the benefits of decentralized control, fault tolerance to individual failures, and self-organizing adaptability. Glowworm swarm optimization (GSO) is unique among swarm-based algorithms as it simultaneously focuses on searching for multiple targets. This thesis presents GPR-GSO—a modification to the GSO algorithm that incorporates Gaussian Process Regression (GPR) based data-driven predictive modeling—to improve the search efficiency of robotic swarms in multiple emission source localization tasks. The problem formulation and methods are presented, followed by numerical simulations to illustrate the working of the algorithm. Results from a comparative analysis show that the GPR-GSO algorithm exceeds the performance of the benchmark GSO algorithm on evaluation metrics of swarm size, search completion time, and travel distance

Affordances in Psychology, Neuroscience, and Robotics: A Survey

The concept of affordances appeared in psychology during the late 60s as an alternative perspective on the visual perception of the environment. It was revolutionary in the intuition that the way living beings perceive the world is deeply influenced by the actions they are able to perform. Then, across the last 40 years, it has influenced many applied fields, e.g., design, human-computer interaction, computer vision, and robotics. In this paper, we offer a multidisciplinary perspective on the notion of affordances. We first discuss the main definitions and formalizations of the affordance theory, then we report the most significant evidence in psychology and neuroscience that support it, and finally we review the most relevant applications of this concept in robotics

Can Computers Create Art?

This essay discusses whether computers, using Artificial Intelligence (AI), could create art. First, the history of technologies that automated aspects of art is surveyed, including photography and animation. In each case, there were initial fears and denial of the technology, followed by a blossoming of new creative and professional opportunities for artists. The current hype and reality of Artificial Intelligence (AI) tools for art making is then discussed, together with predictions about how AI tools will be used. It is then speculated about whether it could ever happen that AI systems could be credited with authorship of artwork. It is theorized that art is something created by social agents, and so computers cannot be credited with authorship of art in our current understanding. A few ways that this could change are also hypothesized.Comment: to appear in Arts, special issue on Machine as Artist (21st Century