Readings
- Lecture 11: Softbots, Robots, and Embodiment
- Intelligence without representation by Rodney A. Brooks (AIJ 1991).
- Intelligence without Robots: A Reply to Brooks by Oren Etzioni (AI Magazine 14(4) 1993).
- Software agents and their bodies by Nick Kushmerick, Minds and Machines 7(2)
- Lecture 10: The electro-mechanics of robots
- Lecture 9: Navigation and Search
- PHA*: Performing A* in Unknown Physical Environments by Felner, Stern, and Kraus
- Lecture 8: Hybrid approaches to controlling robots
- On Three-Layer Architectures by Erann Gat (in Artificial Intelligence and Mobile Robots, 1999). **Optional:**If you want to read the classic, take a look at Integrating Planning and Reacting in a Heterogeneous Asychronous Architecture for controlling Real-World Mobile Robots by Erann Gat (AAAI-92).
- The Engineering of Mind by James Albus (Information Sciences 117, 1999).
- A Reference Model Architecture for Intelligent Systems Design. **Optional:**A longer article is An Intelligent Systems Architecture for Manufacturing.
- Lecture 8: Path planning and navigation
- PHA*: Performing A* in Uknown Physical Environments By Ariel Felner, Roni Stern, and Sarit Kraus
- Lecture 7: State-based behavior selection
- Lecture 6: Winner-take-all and Behavior Networks
- How to do the right thing? by Patti Maes (Connection Science Journal, Vol. 1, No. 3, pp. 291-323, 1989. Also MIT AI-Memo 1180. December 1989.). If this version gives you trouble, try these links for postscript, different postscript, and yet another postscript versions.
- Behavior networks for Continuous Domains using Situation-Dependent Motivationsby Klaus Dorer (IJCAI-99).
- Lecture 5: Voting and Potential Fields
- A Fine-Grained Alternative to the Subsumption Architecture for Mobile Robot Control by Rosenblatt and Payton (IEEE IJCNN 1989). A longer and more detailed paper (optional) is Plan-Guided Reaction by Payton, Rosenblatt, and Keirsey (IEEE Systems, Man and Cybernetics 1990).
- Potential fields tutorial by Michael A. Goodrich
(Stanford). The definitive
article is unfortunately not available on-line:
O. Khatib, Real-time obstacle avoidance for manipulators and mobile robots (proc. IEEE Intl. Conf. on Robotics and Automation, 1985. - Optional. Reactive Task Execution of a mobile robot by Jukka Riekki (PhD Thesis)
- Lecture 3+4: Fuzzy Control in Robotics
- An introduction to fuzzy control systems: Online Tutorial
- The Uses of Fuzzy Logic in Autonomous Robot Navigation by A. Saffiotti (Soft Computing, 1997)
- On problems of Knowledge in Fuzzy Control: Extended Abstract by G. Kaminka (AAAI Fall Symposium, 1997)
- Lecture 2: Reactive Systems and Simple Behavior-Based Systems
- Universal Plans for Reactive Robots in Unpredictable Environments by Marcel J. Schoppers (IJCAI 1987)
- Universal Planning: An (Almost) Universally Bad Idea by Matthew L. Ginsberg (AI Magazine, 10(4) 1989).
- A Robust Layered Control System for a Mobile
Robot
by Rodney Brooks (1986).
Read this one last!
- Lecture 1: Introduction (done)
- Trial by Fire: Understanding the Design Requirements for Agents in Complex Environments by Paul R. Cohen, Michael L. Greenberg, David M. Hart, and Adele E. Howe (AI Magazine v10(3) 1989).
- Benchmarks, Test Beds, Controlled Experimentation, and the Design of Agent Architectures by Steve Hanks, Martha E. Pollack, and Paul R. Cohen (AI Magazine v14(4) 1993).