NDLI: Robot Motion Planning by Reusing Multiple Knowledge under Uncertain Conditions

Content Provider	IEEE Xplore Digital Library
Author	Yamanobe, N. Arai, T. Ueda, R.
Copyright Year	2006
Description	Author affiliation: Dept. of Precision Eng., Tokyo Univ. (Yamanobe, N.; Arai, T.; Ueda, R.)
Abstract	This paper proposes a method for planning robot motions by integrating multiple knowledge that is effective in task achievement. The method efficiently obtains a new policy, which is a mapping from states to actions, on the basis of the knowledge presented in a state-action map. However, in some states, the applied knowledge fails to achieve a given task. In our method, the failing states are found by using the decrease in the state values, and the policy for these states is then modified. In order to demonstrate the validity of our method, we applied it to rearrangement tasks of multiple objects. The appropriate policies were obtained by integrating programs for similar tasks and a simple rule for the task process; moreover, a new knowledge that is effective in the rearrangement tasks was extracted from the obtained policies
Starting Page	2232
Ending Page	2237
File Size	169755
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282566
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot motion Motion planning Learning Robotics and automation Humans Robot programming Navigation Education Intelligent robots Precision engineering
Content Type	Text
Resource Type	Article

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