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Graphical State-Space Programmability as a Natural Interface for Robotic Control. Anqi Xu , Gabriel Charette, Junaed Sattar, Gregory Dudek McGill University, Canada Thursday, May 6 th , 2010. Overview. Existing robot programming techniques Graphical State-Space Programming (GSSP) - PowerPoint PPT Presentation
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Graphical State-Space Programmability as a Natural Interface for Robotic Control
Graphical State-Space Programmability as a Natural Interface for Robotic ControlAnqi Xu, Gabriel Charette, Junaed Sattar, Gregory Dudek
McGill University, Canada
Thursday, May 6th, 2010
OverviewExisting robot programming techniques
Graphical State-Space Programming (GSSP)
Implementation on a representative robotic platform
User StudyAnqi Xu, McGill UniversityAqua: A Family of Underwater RobotsSurvey health of marineecosystems
Location-specific tasks:Take picture of this coralSearch for that type of fish
Infrastructure representative of most robotic platforms
Anqi Xu, McGill UniversityRobot Programming InterfacesTextual programming
Anqi Xu, McGill UniversityRobot Programming Interfaces (cont.)Textual programmingData flow programming (e.g. visual front-end for code)Lego Mindstorms NXT-G Software
Anqi Xu, McGill UniversityRobot Programming Interfaces (cont.)Textual programmingData flow programming (e.g. visual front-end for code)Graphical control / tele-operationProcerus Virtual Cockpit Software
Anqi Xu, McGill UniversityTask SpecificationTextual & data flow programming: if-then-else / switchFull control over sequence of executionAbility to specify branching pathsNested clauses hard to debug
Graphical control: on-screen command selectionCommands placed at distinct locations on mapNo path branching capabilitiesLimited selection of tasksAnqi Xu, McGill UniversityInsert waypoints through GUI
Location-specific tasks: standard computer code attached to waypointsBranching & looping pathsNatural visualization of data flow
Core robot AI code decoupled from path itinerariesMinimal overlap of functionalitiesHigh-level robot interactionGraphical State-Space Programming (GSSP)Anqi Xu, McGill University
GSSP Implementation onboard AquaAnqi Xu, McGill UniversityExisting development processLong compilation timesMonolithic codebaseLimited on-boardprocessing capabilities
Revamped development processScripts interpreted at runtime using Python API wrapperModular client-server designUpgradable client-side processing capabilities
Location-specific Python scripts
Load new paths within scriptsalternating routescontingency plansetc.
Create / modify paths at runtimebased on current state & latest observationsPath Generator GUIAnqi Xu, McGill University
User StudyGraphical state-space programming versus textual scripting
Trajectory through all marked locationsEach icon corresponds to a specific action commandFor textual scripting, use additional function calls to move robot5 subjects, 4 sessionsAlternate between GSSP & textual interfaces
Evaluation metric: elapsed duration
Anqi Xu, McGill UniversityStudy ResultsGSSP interface consistently faster than procedural coding
GSSP has minimal learning overhead
GSSPs high-level interaction prevents path-related & other simple programming errors
Anqi Xu, McGill UniversityConclusionGraphical state-space programming paradigmGeographical visualization of location-specific commandsCode for core AI routines decoupled from path itineraries
Advantages:Smaller codebaseFaster development timeHigh-level robot interaction
Ongoing work:Provide simultaneous visualization of branching pathsIntegrate with other robotic platforms
Anqi Xu, McGill University