Wheelchair Demos

Below are instructions for running several Wheelchair demos developed by Mike Hewett and Emilio Remolina during Spring 1999.

Demo 3: Wheelchair controller

Summary

In this demo the user types a navigation command, the planner generates a plan, the plan executor executes the plan, and the robot in Flat moves under control of the plan executor.

This demo shows the need for self-location (the where-am-i? function), view recognition, and better control laws. In addition, the laser rangefinder data could be exploited to recognize rooms, hallways, etc.

Press here for Instructions on running Demo3 (revised 25 Sep 1999)

Press here for a trace of running Demo3 (revised 25 Sep 1999)

  • Demo3 accepts navigation commands of the form:
    Go [[from [the]] from-place] [to [the]] to-place
    If the from-place is not specified, it is the Robot-Lab.
    In this demo, use Corner-1 and Elevator-1 (in either order).

    Press here for a Demo3 trace using the old configuration.

    


    


    Demo 2: Wheelchair planner
    

    Summary
    
This demo runs Ben's original Tour program that builds
an SSH map, but it uses the new SSH+ map manager.


    Instructions
    

      

    1. Start LISP


    2. :cd /u/robot/ssh+/demo/tour


    3. :ld tour       - follow the instructions displayed


    4. :ld /u/robot/ssh+/ssh - load SSH+


    5. (load-algy-file "algy-common-kb")


    6. (load-tour-demo)


    7. (run-tour-demo)

    8. (scan+merge)

    9. (load "dorchester")

    10. (test-dorchester)

    


    Sample run
    

    

    


    Demo 1: Noun binding using SSH+ maps and associated knowledge
    

    Summary
    
This demo shows how SSH+ uses map information
to bind nouns in navigation commands.
For example, "elevator" has no meaning, but it is
is a common name for objects of the type "SSH-ELEVATORS".
The command parser searches for objects of that type
in order to bind the noun.  Note that several bindings
may be possible, as in the command "Go to the door".


    Instructions
    

      

    1. Start LISP


    2. :cd /u/robot/ssh+/demo/elevator


    3. :ld elevator       - follow the instructions displayed


    4. :ld /u/robot/ssh+/ssh - load SSH+


    5. (load-elevator-demo)


    6. (run-elevator-demo T)


    7. Enter navigation commands of the form:
      Go [[from [the]] place1] [to [the]] place2
      If the from-place is not specified, it is the Robot-Lab.

    


    Sample run
    

    


    
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    Author: Micheal
S. Hewett
    
    Email: hewett@cs.utexas.edu
    
    Last Updated: Wednesday, February 24, 1999