NDLI: A fast learning variable lambda TD model: Used to realize home aware robot navigation

Content Provider	IEEE Xplore Digital Library
Author	Altahhan, A.
Copyright Year	2014
Description	Author affiliation: Coll. of Comput. Inf. Technol., American Univ. in the Emirates, United Arab Emirates (Altahhan, A.)
Abstract	This work describes a fast learning robot goal-aware navigation model that employs both gradient and conjugate gradient Temporal Difference (TD, TD-conj) methods. It builds on the fact that TD-conj was proven to be equivalent to a gradient TD method with a variable lambda under certain conditions. Based on straightforward features extraction process combined with goal-aware capabilities provided by whole image measure, the model solves what we call u-turn-homing benchmark problem without using landmarks. Only one goal snapshot was used with agent facing the goal directly. Therefore a novel threshold stopping formula was used to recognize the goal which is less sensitive to the agent-goal orientation problem. Unlike other models, this model refrains from artificially manipulating or assuming a priori knowledge about the environment, two constraints that widely restrict the applicability of existing models in realistic scenarios. An on-line control method was used to train a set of neural networks. With the aid of variable and fixed eligibility traces, these networks approximate the agent's action-value function allowing it to take close to optimal actions to reach its home. The effectiveness of the model was experimentally verified on an agent.
Starting Page	1534
Ending Page	1541
File Size	3255698
Page Count	8
File Format	PDF
ISSN	21614407
e-ISBN	9781479914845
DOI	10.1109/IJCNN.2014.6889845
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-06
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Histograms Navigation Approximation algorithms Vectors Function approximation Orientation Insensitive Thersholding TD-conj Home Aware Variable 1 TD U-Turn-Homin
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