NDLI: Safe and effective learning: A case study

Content Provider	IEEE Xplore Digital Library
Author	Metta, G. Natale, L. Pathak, S. Pulina, L. Tacchella, A.
Copyright Year	2010
Description	Author affiliation: Università degli Studi di Genova, Dipartimento di Informatica Sistemistica e Telematica, Via Opera Pia 13, 16145, Italy (Pathak, S.; Pulina, L.; Tacchella, A.) \|\| Italian Institute of Technology, via Morego 30, 16163 Genova, Italy (Metta, G.; Natale, L.)
Abstract	In this paper we consider the problem of ensuring that a multi-agent robot control system is both safe and effective in the presence of learning components. Safety, i.e., proving that a potentially dangerous configuration is never reached in the control system, usually competes with effectiveness, i.e., ensuring that tasks are performed at an acceptable level of quality. In particular, we focus on a robot playing the air hockey game against a human opponent, where the robot has to learn how to minimize opponent's goals (defense play). This setup is paradigmatic since the robot must see, decide and move fastly, but, at the same time, it must learn and guarantee that the control system is safe throughout the process. We attack this problem using automata-theoretic formalisms and associated verification tools, showing experimentally that our approach can yield safety without heavily compromising effectiveness.
Starting Page	4809
Ending Page	4814
File Size	780990
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509892
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Robot kinematics Robotics and automation Robot control Safety Automatic control Robot sensing systems Cognitive robotics Control system synthesis Integrated circuit modeling
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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

Probabilistic modeling of intelligent robotic systems

Rapid online learning of compliant motion for two-arm coordination

Configuration Control and Recalibration of a New Reconfigurable Robot

Resource modelling and combination in modular robotics systems

Basic behavior acquisition based on multisensor integration of a robot head

Continuous control law from unilateral constraints

Force passivity in fixturing and grasping

Towards ultrasound image-based visual servoing

Real-time robot learning with locally weighted statistical learning

Safe and effective learning: A case study

Similar Documents

Probabilistic modeling of intelligent robotic systems

Rapid online learning of compliant motion for two-arm coordination

Configuration Control and Recalibration of a New Reconfigurable Robot

Resource modelling and combination in modular robotics systems

Basic behavior acquisition based on multisensor integration of a robot head

Continuous control law from unilateral constraints

Force passivity in fixturing and grasping

Towards ultrasound image-based visual servoing

Real-time robot learning with locally weighted statistical learning

Safe and effective learning: A case study