"These include cybersecurity, training, military recruitment, veterans' healthcare, and search and rescue".
Google said it will not pursue development of AI when it could be used to break global law.
"We recognize that such powerful technology raises equally powerful questions about its use", Pichai wrote in a blog post.
Peter Asaro, vice chairman of the International Committee for Robot Arms Control, said this week that Google's backing off from the project was good news because it slows down a potential AI arms race over autonomous weapons systems. The charter shows Google's pursuit of these contracts will continue.
Google's $800 billion parent company, Alphabet, is considered one of the world's leading authorities on AI and employs some of the field's top talent, including at its London-based subsidiary DeepMind.
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The principles offer limited detail into how the company would seek to follow its rules. So long as they obey safety practices, "we will proceed only where we believe that the benefits substantially outweigh the risks".
"We will not design or deploy AI in weapons or other technologies whose principal objective or implementation is to cause or directly facilitate injury to people", Pichai said in a blog post late Thursday.
There are scant details on the AI missile research, but Reuters quoted one U.S. official as saying that an early prototype of a system to track mobile missile launchers was already being tested within the USA military.
The document, which also enshrines "relevant explanations" of how AI systems work, lays the groundwork for the rollout of Duplex, a human-sounding digital concierge that was shown off booking appointments with human receptionists at a Google developers conference in May.
Other companies leading the race developing AI are also grappling with ethical issues - including Apple, Amazon, Facebook, IBM and Microsoft, which have formed a group with Google called the Partnership on AI. "Any organization is free to participate in this ongoing exploration or not".