NDLI: Path planning of robots in noisy workspaces using learning automata

Content Provider	IEEE Xplore Digital Library
Author	Tsoularis, A. Kambhampati, C. Warwick, K.
Copyright Year	1993
Description	Author affiliation: Dept. of Cybern., Reading Univ., UK (Tsoularis, A.; Kambhampati, C.; Warwick, K.)
Abstract	The problem of a manipulator operating in a noisy workspace and required to move from an initial fixed position P/sub 0/ to a final position P/sub f/ is considered. However, P/sub f/ is corrupted by noise, giving rise to P/spl circ//sub f/, which may be obtained by sensors. The use of learning automata is proposed to tackle this problem. An automaton is placed at each joint of the manipulator which moves according to the action chosen by the automaton (forward, backward, stationary) at each instant. The simultaneous reward or penalty of the automata enables avoiding any inverse kinematics computations that would be necessary if the distance of each joint from the final position had to be calculated. Three variable-structure learning algorithms are used, i.e., the discretized linear reward-penalty (DL/sub R-P/, the linear reward-penalty (L/sub R-P/) and a nonlinear scheme. Each algorithm is separately tested with two (forward, backward) and three forward, backward, stationary) actions.
Starting Page	560
Ending Page	564
File Size	319949
Page Count	5
File Format	PDF
ISBN	0780312066
ISSN	21589860
DOI	10.1109/ISIC.1993.397636
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-08-25
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Robotics and automation Learning automata Stochastic processes Working environment noise Feedback Cybernetics Trajectory Kinematics Automatic testing
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

On using stochastic automata for trajectory planning of robot manipulators in noisy workspaces

Minimum-time trajectory planning for two robots

Complete coverage path planning and guidance for cleaning robots

A stochastic learning automaton based autonomous control of robotic agents

Cooperative Object Transport with Humanoid Robots using RRT Path Planning and Re-Planning

Real time trajectory generation for vehicle position control

Optimal path planning in the workspace for articulated robots using mixed integer programming

A decentralized local constraint path planner for multiple mobile robots

Randomized statistical path planning

Path planning of robots in noisy workspaces using learning automata

Similar Documents

On using stochastic automata for trajectory planning of robot manipulators in noisy workspaces

Minimum-time trajectory planning for two robots

Complete coverage path planning and guidance for cleaning robots

A stochastic learning automaton based autonomous control of robotic agents

Cooperative Object Transport with Humanoid Robots using RRT Path Planning and Re-Planning

Real time trajectory generation for vehicle position control

Optimal path planning in the workspace for articulated robots using mixed integer programming

A decentralized local constraint path planner for multiple mobile robots

Randomized statistical path planning

Path planning of robots in noisy workspaces using learning automata