The purpose of this discussion is to realistically portray that levels of autonomy are natural in our everyday world.   We routinely accept these challenged individuals, with varying degrees of autonomy, as fully capable of being productive and an asset in our environment, whether it be at home, work, or play.

Sometimes in the field of mobile robotics we hear the phrase "100% autonomous."   Quantifying the degree of mobile robot autonomy is much like saying someone is "100% smart" or "100% dressed."   In the first instance, "100% smart," we intuitively know that to be a foolish or nonsensical phrase.   When we hear that someone is "100% dressed" we know that phrase is situation based.   An easy example is being 100% dressed for swimming as opposed to being 100% dressed for a black tie catered dinner.   This is also the case for calling a mobile robot "100% autonomous."

The degree of autonomy of a mobile robot depends on the environment and your expectations as to its ability to successfully navigate and goal seek within that environment.   For example, an undersea submarine under robotic control has a much different environment than navigating through your home.   But let's look at the degrees of autonomy in your home and workplace and our expectations there.

Perhaps the easiest way to portray autonomy is to consider the life cycle of humans and the degrees of autonomy inherent in each age group.

The home is structured by having no "sharp" objects, poisons, etc. within reach of the child.   Rooms which may be dangerous for the child may be shut off, and most stairways will be blocked due to the child's poor depth perception.

They fall down seldom when walking, but sometimes often when running.   Due to the possibility of falling when running, sharp corners on furniture are watched closely.   Even here, stairways may be frequently gated and swimming pools either covered, or doors locked that would provide access to the curious child.

"No running" in the house is a common rule due to the danger of falling and striking a sharp object.

Even with strength and grace the young athlete still slips on occassion with devastating results.   Frequently they wear special braces, pads, clothing, etc.   They have "spotters" to minimize the potential for injury and to minimize those unavoidable injuries.   A high school football player, dressed for a Friday night game is in a very structured environment.   The playing field is specially prepared.   His padding is complete.   And he wears a helmet to protect him from head an/or neck injuries.   Even the rules of the game structure his environment to minimize devastating physical injuries.   Many types of tackles and/or blocking are considered to be so dangerous, that the penalities for these illegal moves can be game threatening.

With advancing years comes increasing concern as to falls because of slow healing bones.   Canes, crutches, walkers, handrails, wheelchairs, etc. all become commonly used to structure the environment.   Younger family members routinely assist grandma and great uncle in moving about their home when they visit or go out.   Power assisted chairs and beds are not uncommon, as well as single floor homes with few, if any steps.   The structuring of a nursing home for the elderly and the structuring of a day care center, to state the obvious, are very different in their types of mechanical assistance and orientation for their specific age group.

From a house pet perspective, we once had a blind Schnauzer.   She had cataracts and for the last five years of the twelve she lived, she was fully autonomous in a two story home.   She remembered her way around.   She listened, she smelled, and she was sensitive to touch.   When she became blind, no changes were made to her normal environment, other than recognition by my parents that she was blind and that certain accomodations would have to be made to address her lessened degree of autonomy.

Our blind dog had 1) hearing, 2) touch, and 3) and most importantly, a brain with short term and long term memory.   She was fully capable of cognizant navigation.   Our GSI Mobile Service Robot 1.0 has sonar and infrared range finding, dead reckoning, and short and long term memory.   Our pet Schnauzer, had only hearing and smell, but no way to know distance, as the GSI Mobile Service Robot does with the sonar and IR.   But our GSI Mobile Service Robot's GeckoNav, like the dog, has the "cognitive skills" to interpret in real time the sensory information available and proceed on a predetermined path efficiently.

Some personal robots have an extremely rich set of sensors such as: a digital compass, light/dark detection, multiple fixed sonar, multiple fixed IR, etc.   While at first glance this seems to be impressive, a large set of sensors does not necessarily mean that cognizant navigation is possible, or any level or degree of autonomy.   Robots are 90% software and without the computing power of a PC, workstation, or greater; any level of autonomy beyond simple knee jerk, if-then, reactive-only behavior is simply not feasible.   In the reality of autonomous robots, hardware is easy to do.   Software is very, very difficult.

GeckoNav's Fuzzy Hybrid Architecture is truly revolutionary.   It allows for cognizant navigation to enable base line utility such as vacuuming and errand running.   It achieves this with a minimum of sensor systems and maximum utilization of PC based software.   This is how we have been able to produce a personal robot, with a high, utilitarian level of autonomy, at a cost of literally tens of thousands of dollars less than comparable autonomous robots.   The high value, low cost of our GSI Mobile Service Robot is why most of our customers have built or bought two or more robots in the last ten to fifteen years.   Our customers have owned Heros. Geminis, Topos, RB5Xs, and built their own frequently.   They are the most knowledgeable and sophisticated of all possible customers, the experienced personal robot enthusiast.   We consider them to be the "best of the best."   Please join us in the practical, utilitarian personal robot revolution.