Lecture 1

Course Material

Probabilistic Introduction to Autonomous Multiple View

Robotics by Autonomous Land Vehicles by Geometry In
Sebastian Thurn, Mobile Robots Karsten Berns , Computer Vision by
MIT Press 2005 by Roland Springer, 2009 Richard Hartely,
Siegwart , MIT Cambridge University
Press , 2004 Press, 2004

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 Today’s Objectives:
• Introduction to Mobile Robotics
– Approaches
– Trends
• Short notes on linear algebra

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 Introduction to Robotics
• Public perception
• Pop culture images

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 What is a Robot?
A mechanical system that has sensing, actuation
and computation capabilities.
Other names (in other disciplines)
• Autonomous system
• Intelligent agent
• Control system

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 What Makes a Robot?
• A robot consists of:
– sensors
– effectors/actuators
– communication
– controller

• A robot is a rational agent capable

– acting autonomously
– achieving goals

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 What is Robotics?
• The art and science of making robots

• Where are roboticists found

– Electrical engineering (control systems)
– Mechanical engineering (mechanisms)
– Computer science (AI, learning)
– Mechatronics
– Bioengineering

• Increasingly important
– Lawyers (legal issues, labor laws)
– Philosophers (ethical issues)
– Economists (disruptive technologies)
– Social scientists (the social impacts of automation, aesthetics)

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 Roboticist and Robot Ethics
• A robot may not injure a human being, or,
through inaction, allow a human being to come
to harm.
• A robot must obey the orders given it by human
beings except when such orders would conflict
with the first law.
• A robot must protect its own existence as long as
such protection does not conflict with the first
or second law.
[Runaround,
1942]
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Current Trends In Robotics
• Robots are moving away from factory floors to
– Personal Service, Medical Surgery, Industrial
Automation (Mining, Harvesting), Hazardous
Environment (Space, Underwater) etc.
• Robots Domains
• Ground Robots
• Flying Robots

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 Modern Robotics
Three broad categories
1. Industrial robots: manipulators (1970’s)
2. Mobile robots: platforms with autonomy (1980’s)
3. Mobile manipulators = manipulator + mobility (2000’s)

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Industrial Manipulators

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 Some Mobile Robots Terminology
• UAV: Unmanned Aerial Vehicle
• UGV: Unmanned Ground Vehicle
• UUV: Unmanned
Undersea (underwater)
Vehicle
• AUV: Autonomous
Underwater Vehicle

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Bio-inspired / Walking Machines

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 Self-Driving Trucks for Mining
• 17 Self-driving trucks deployed for mining in
Australia
• Increased accuracy in operation as compared
to humans
• Improved earth excavation

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 Autonomous Driving
• Market for advanced driver assistance systems
to grow from $10 billion now to $130 billion
• Projected to reach $2000 billion by 2030

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 Autonomous Driving
• Tesla—90% autonomous vehicle within 3
years
• EURO-NCAP automated emergency braking
mandatory by 2014
• For 5-star safety rating, vehicle has to be
‘robotic’

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 Defense: Unmanned Aerial Vehicles
• Drones—combat, surveillance
• First appeared during the vietnam war
• First recorded targeted killing– 2002
(afghanistan)
• Global UAV market--$5.9 billion now to $8.35
billion in 2018

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 Defense: Unmanned Aerial Vehicles
• NYU/stanford report—2,562-3,325 fatalities in
pakistan
• U.S pullout from Afghanistan-- integration of
decommissioned UAVs
• Market ripe for drones for surveillance
• Other uses: weather research, law
enforcement

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 Defense: Driverless Vehicles
• 1/3 of all U.S Military vehicles to be
autonomous by 2015
• Terramax-- Oshkosh Trucking
Corporation
• Black Knight– Unmanned Tank

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 Unmanned Agricultural Machines
• Efficient utilization of resources
• Uavs for spraying insecticides
• Driverless tractors

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 Unmanned Agricultural Machines
• Possible Applications: Weeding, Harvesting,
Pruning, Canal Cleaning (‘Bhal Safai’)
• Lettuce Bot (Blue River Technology)—
Eliminates Leafy Buds 20x Faster

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 Humanitarian
• Landmine detection
• Bomb disposal
• Prosthetic limbs—full restoration of original
capabilities

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 Surgical Robots
• Surgical robotics-higher precision,
repeatability, cost-effective
• Significantly lower blood loss
• Minimally invasive surgery

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 Surgical Robots
• Flagship--da vinci surgical robot
• Surgical robot market to reach significant
growth
• Market size: $3.2 billion in 2012, anticipated
to reach $19.96 billion by 2019

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 Assistive Robots
• Robotic vacuum cleaners
• Global market share of robotic vacuum
cleaners-- 12% of $680 million

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 Assistive Robotics
• Growing elderly population in developed
countries
• Demographics to change by 2050
• Over 60 to form 22% of the world population
compared to the 11% today
• Needs: visual assistance, emergency
assistance, mobility assistance

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 Factories of the Future
• Declining costs
– Industrial grade manipulators ~ > $100,000
– Baxter (rethink robotics) costs $22,000
• Small & Medium Enterprises (SME’s) entering the fray
• Need consistent quality
• Lean operation
• Higher productivity
• Higher accuracy
in safety critical
applications

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 Paradigms in Robotics
• Classical, until 1980
• Reactive, until 2000
– Behavior Based
– Hybrid
• Probabilistic, present

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Classical/hierarchical

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Reactive Paradigm

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Behaviors Based Robotics

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Hybrid deliberative/reactive Paradigm

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Example Architecture for Mobile Robot

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Stanley’s Software Architecture

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 Robot Operating System (ROS)
• We will use ROS in the lab course
• [Link]
• Installation instructions, tutorials, docs

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 Short Notes on Linear Algebra
• Vector • Matrix
• Vector Operations • Types of Matrices
• Matrix Operations
– Scalar Multiplication
– Scalar Multiplication
– Addition/Subtraction – Addition/Subtraction
– Length/Normalization – Transpose
– Dot Product – Determinant
– Cross Product – Inverse
– Square root
– Jacobian / Derivative
– Matrix Vector multiplication

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 Vector Operations
(Cross Product)
• Cross product of two vectors is a vector
perpendicular to both vectors i.e.
• 𝑈= 𝑉× 𝑊
• Magnitude of the cross product
is the area of parallelogram i.e. u

• 𝑉× 𝑊 = 𝑉 𝑊 v
sin 𝜃 𝜃 𝑣× 𝑤
w

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 Matrix
columns
𝑎12 𝑎13
• Matrix is a set of elements, 𝑎11
organized into rows and rows 𝑎22 𝑎23
𝑎21
columns 𝑎31 𝑎32 𝑎33
• Think of a matrix as a transformation on a
line/point or set of lines/points
V

 x  a b   x'
 y 
 c d   y' V’

 45
 Matrices (Cont.)

A
w3
v3

v1 
v  v2 


v3


w2
v2  w1 
w  w2   Av

w3 

w1
v1

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 Matrices as linear transformations

 0 
1   5  (stretching)
5 0
5 1  5 

 1
 0 1   1 (rotation)
1 0
1 
1


 x    x  cy 
 1 c  (shearing)
0  y 
1  y  47
 Type of Matrices
a 0 0 a b c
   
0 b 0 0 d e upper-triangular
 diagonal
 0 0 c   0 0 f 
a b 0 0 a 0 0
  
  b c 0  lower-triangular
c d e tri-diagonal
 00 h  d e f 
 

f g  1 0 0
 
0 0 i j  0 1 0 I (identity matrix)
Matrix A is symmetric if A = AT
 0 0 1 

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 Type of Matrices
Positive(Semi) Definite Matrix
• If the matrix A is positive definite then the set
of points, x, that satisfy 𝑥′𝐴𝑥 = 𝑐 where c>0
are on the surface of an n-dimensional
ellipsoid centered at the origin

• Useful fact: Any matrix o f

form ATA is positive
semi-definite

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 Type of Matrices
Orthogonal/Orthonormal Matrix
1. Orthogonal matrices
– A matrix is orthogonal if PˊP = PPˊ = I
– In this cases P-1=Pˊ .
– Also the rows (columns) of P have length 1 and
are orthogonal to each other

Orthogonal transformation preserve length

and angles
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 Matrix Operation
(Scalar Multiplication)
• Let A = (aij) denote an n × m matrix
and let c
be any scalar. Then cA is the matrix
ca1n 
 ca11 ca12
ca2n 
21 22
 ca ca
cA  ca   
ij


 
ca m2 camn 
m1
ca

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 Matrix Operation
(Addition/Subtraction)
Let A = (aij) and B = (bij) denote
two n × m
matrices Then the sum, A + B, is the
 b12 a1n 
matrix  a11  b11 a12 b1n 

 a21  b21a b 22 a2n  b
A  B  a  b 
22
 
ij ij
2n

  a m1  bm1a b
m2 m2 amn  bmn 

The dimensions of A and B are required to

be both n × m.
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 Matrix Operation
(Transposition)
• Consider the n × m matrix,
A  a11 a12 a1n 
 a 
21 a22
a 2n 
A  a   
ij

 a m1 a m2 amn 
then the m × n 
matrix,A(also denoted by A T)
 a11 a21 am1 
a 
12 a22
am2 
A  a   
ji

a 
 am2
amn 
m1 53
 Matrix Operation
(Determinant)
• Used for inversion
• If det(A) = 0, then A has no inverse

• Multiplication of Eigen values

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 Matrix Operation
(Inversion)
• A-1 does not exist for all matrices A
• A-1 exists only if A is a square matrix and |A| ≠ 0
• If A-1 exists then the system of linear equations
has a unique solution

Ax  b
1

xA
b 55
 Matrix Operation
(Square Root)
• Matrix B is said to be square root of A if
BB=A
• In the Unscented Kalman Filter (UKF) the
square root of the state error covariance
matrix is required for the unscented transform
which is the statistical linearization method
used

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 Matrix Operations
(Jacobian/Derivative)
Let x denote  denote a
function of the components of x .
a p × 1 vector. Let f 
x 
 dfdx x 
 
1 

df   
dx  
x 
 df  x 
 dxp 
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 Matrix Operation
(Matrix-Vector Multiplication)
• Matrix is like a function that transforms the vectors
on a plane
• Matrix operating on a general point => transforms x-
and y-components
• System of linear equations: matrix is just the bunch
of coeffs !

• x’ = ax + by a b x   x'
• y’ = cx + dy      
d  y  y'
c 58
 Matrix Operation
(Matrix-Matrix Multiplication)

LM
N
l11 l12 l13  m11 m12 m13  n11 n12 n13 

l l   m 21 m22   n n22 n 23
 21 l 22 23 
m 23   21

l32 l33  m31 m32 m33  n32


l31
n31 n33


l12  m11n12  m12n22  m13n32 59
Questions

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