NDLI: Embedding task-based behavior into internal sensory-based attractor dynamics in navigation of a mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Tani, J. Fukumara, N.
Copyright Year	1994
Description	Author affiliation: Sony Comput. Sci. Lab. nc., Tokyo, Japan (Tani, J.)
Abstract	This study shows a novel approach for learning sensory- and task-based navigation of a mobile robot. The learning of task-based behavior is formulated as an embedding problem of dynamical systems: the desired trajectories in a task space should be embedded into an adequate sensory-based internal state space so that unique mapping from the internal state space to the motor command can be established. We discuss how such internal state space and its mapping can be self-organized by means of neural learning methodologies. Physical experiment by a mobile robot with laser range sensor was conducted, which showed that learning of homing and cyclic routing tasks were successfully realized on two different neural network (NN) architectures; the time delayed type and the recurrent type. The navigation was inherently robust against miscellaneous noise since those tasks were embedded in the global attractor dynamics of a fixed point and limit cycling.
Starting Page	886
Ending Page	893
File Size	647573
Page Count	8
File Format	PDF
ISBN	0780319338
DOI	10.1109/IROS.1994.407488
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-09-12
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	State-space methods Navigation Mobile robots Neural networks Trajectory Laser noise Laser theory Routing Recurrent neural networks Delay effects
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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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