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Since Robotics is the field concerned with the connection of perception to action, Artificial Intelligence must have a central role in Robotics if the connection is to be intelligent. Artificial Intelligence addresses the crucial questions of: what knowledge is required in any aspect of thinking; how that knowledge should be represented; and how that knowledge should be used. Robotics challenges AI by forcing it to deal with real objects in the real world. Techniques and representations developed for purely cognitive problems, often in toy domains, do not necessarily extend to meet the challenge. Robots combine mechanical effectors, sensors, and computers. AI has made significant contributions to each component. We review AI contributions to perception and object oriented reasoning. Object-oriented reasoning includes reasoning about space, path-planning, uncertainty, and compliance. We conclude with three examples that illustrate the kinds of reasoning or problem solving abilities we would like to endow robots with and that we believe are worthy goals of both Robotics and Artificial Intelligence, being within reach of both.

This paper is a synthesis of several sets of ideas: ideas about learning from precedents and exercises, ideas about learning using near misses, ideas about generalizing if-then rules, and ideas about using censors to prevent procedure misapplication. The synthesis enables two extensions to an implemented system that solves problems involving precedents and exercises and that generates if-then rules as a byproduct . These extensions are as follows: If-then rules are augmented by unless conditions, creating augmented if-then rules. An augmented if-then rule is blocked whenever facts in hand directly demonstrate the truth of an unless condition, the rule is called a censor. Like ordinary augmented if-then rules, censors can be learned. Definition rules are introduced that facilitate graceful refinement. The definition rules are also augmented if-then rules. They work by virtue of unless entries that capture certain nuances of meaning different from those expressible by necessary conditions. Like ordinary augmented if-then rules, definition rules can be learned. The strength of the ideas is illustrated by way of representative experiments. All of these experiments have been performed with an implemented system.

This paper introduces the delta tree, a data structure that represents an object using a set of reference images. It also describes an algorithm for generating arbitrary re-projections of an object by traversing its delta tree. Delta trees are an efficient representation in terms of both storage and rendering performance. Each node of a delta tree stores an image taken from a point on a sampling sphere that encloses the object. Each image is compressed by discarding pixels that can be reconstructed by warping its ancestor's images to the node's viewpoint. The partial image stored at each node is divided into blocks and represented in the frequency domain. The rendering process generates an image at an arbitrary viewpoint by traversing the delta tree from a root node to one or more of its leaves. A subdivision algorithm selects only the required blocks from the nodes along the path. For each block, only the frequency components necessary to reconstruct the final image at an appropriate sampling density are used. This frequency selection mechanism handles both antialiasing and level-of-detail within a single framework. A complex scene is initially rendered by compositing images generated by traversing the delta trees of its components. Once the reference views of a scene are rendered once in this manner, the entire scene can be reprojected to an arbitrary viewpoint by traversing its own delta tree. Our approach is limited to generating views of an object from outside the object's convex hull. In practice we work around this problem by subdividing objects to render views from within the convex hull.