NDLI: Don't Do Things You Can't Undo: Reversibility Models for Generating Safe Behaviours

Content Provider	IEEE Xplore Digital Library
Author	Kruusmaa, M. Gavshin, Y. Eppendahl, A.
Copyright Year	2007
Description	Author affiliation: Inst. of Technol., Tartu Univ. (Kruusmaa, M.)
Abstract	We argue that an ability to determine the reversibility of actions allows a robot to identify safe behaviors autonomously. We introduce a notion of reversibility model and give a definition of model refinement. We implement this on a real robot and observe that, when a reversibility model is refined by the addition of proximity sensors, obstacle avoidance emerges as a side-effect of avoiding irreversible actions. We interpret this as evidence of a deep connection between reversibility and safe behaviour. We also observe that, on the real robot, reversibilities are learned as efficiently as a dedicated reward function. We conclude that reversibility identification may provide an abstract and yet practical method of generating a variety of safe behaviours.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	1134
Ending Page	1139
File Size	227753
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363137
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Navigation Robotics and automation Learning Mobile robots Robot programming Signal processing Collision avoidance Concrete Genetic algorithms
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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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Don't Do Things You Can't Undo: Reversibility Models for Generating Safe Behaviours