NDLI: Layered understanding for sporadic imitation in a multi-robot scenario

Content Provider	IEEE Xplore Digital Library
Author	Richert, W. Niehorster, O. Koch, M.
Copyright Year	2008
Description	Author affiliation: Fac. of Comput. Sci., Univ. of Paderborn, Paderborn (Richert, W.; Niehorster, O.; Koch, M.)
Abstract	With imitation robots have a powerful means to drastically cut down the exploration space. However, as existing imitation approaches usually require repetitive demonstrations of the skill to learn in order to be useful, those are typically not applicable in groups of robots. In these scenarios usually each robot has its own task to accomplish and should not be disturbed by teaching others. Therefor, most of the time an imitating robot has only one observed performance of the behavior from which it can learn. Utilisation of these sparse observation data has largely been ignored. We present an approach that allows an individually learning robot to make use of such cases of sporadic imitation which is often the only possibility to learn from other robots in a group. The power of the algorithm comes from the fact that it uses the robots already known skills and strategies to understand the observed behavior. Thereby, a robot can use imitation in order to guide its exploration efforts towards more rewarding areas in the exploration space. This is inspired by imitation often found in nature where animals or humans try to map observations into their own capability space. We show the feasibility by realistic simulation of Pioneer robots.
Starting Page	1287
Ending Page	1292
File Size	942153
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650817
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Viterbi algorithm Hidden Markov models Actuators Distance measurement Principal component analysis Complexity theory
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
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