Julien Roux
The Pursuit Ability of a Robot 'Pet'
Master of Science Dissertation, Distributed and Multimedia Information Systems,
Heriot Watt University, Edinburgh, Scotland, September, 2005.
Citation:
Roux, J. (2005)
The Pursuit Ability of a Robot 'Pet',
Master of Science Dissertation,
Distributed and Multimedia Information Systems,
Heriot Watt University, Edinburgh, Scotland, September, 2005.
Abstract:
This report presents the development of a new behavioural pattern for
a robotic dog, Sony Aibo ERS-7, which aims to find a form of prey to
chase and eventually catch. In our case, the robot will wander around
for a short period, then look for the pink ball and, once located,
Aibo will chase it until it is close enough to what he considers the
prey as caught. The general behaviour has been implemented using a
hierarchy of Finite State Machines and covers several topics in
robotics: object detection and recognition, navigation in an unknown
and changing environment and, ability to follow a target. The idea of
this project is to investigate how the robot achieves behaviour
selection, based on stimuli from the environment. Several different
approaches for decision making for autonomous agents have been studied
and the state machine approach has been chosen for the implementation
of the behaviour.
Resources:
Supervisors:
©2005, Julien Roux.
This material is hosted on the AIAI web site concerned with I-X and
Project AIBO. Thanks to Austin Tate for his assistance in the work
reported in this thesis.