NDLI: Learning Wall Following Behaviour in Robotics through Reinforcement and Image-based States

Content Provider	IEEE Xplore Digital Library
Author	Domenech, J.E. Regueiro, C.V. Gamallo, C. Quintia, P.
Copyright Year	2007
Description	Author affiliation: Univ. de A Coruna, A Corua (Domenech, J.E.; Regueiro, C.V.; Gamallo, C.; Quintia, P.)
Abstract	In this work, a visual and reactive wall following behaviour is learned by reinforcement. With artificial vision the environment is perceived in 3D, and it is possible to avoid obstacles that are invisible to other sensors that are more common in mobile robotics. Reinforcement learning reduces the need for intervention in behaviour design, and simplifies its adjustment to the environment, the robot and the task. In order to facilitate its generalization to other behaviours and to reduce the role of the designer, we propose a regular image-based codification of states. Even though this is much more difficult, our implementation converges and is robust. Results are presented with a Pioneer 2 AT. Learning phase has been realized on the Gazebo 3D simulator and the test phase has been proved in simulated and real environments to demonstrate the correct design and robustness of our algorithms.
Starting Page	2101
Ending Page	2106
File Size	3486212
Page Count	6
File Format	PDF
ISBN	9781424407545
DOI	10.1109/ISIE.2007.4374932
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-04
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robustness Robot sensing systems Robot vision systems Learning Cameras Image converters Testing Algorithm design and analysis Delay
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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