NDLI: Model-Free Learning and Control in a Mobile Robot

Content Provider	IEEE Xplore Digital Library
Author	Rohrer, B. Bernard, M. Morrow, J.D. Rothganger, F. Xavier, P.
Copyright Year	2009
Abstract	A model-free, biologically-motivated learning and control algorithm called S-learning is described as implemented in an Surveyor SRV-1 mobile robot. S-learning demonstrated learning of robotic and environmental structure sufficient to allow it to achieve its goals (finding high- or low-contrast views in its environment). No modeling information about the task or calibration information about the robot’s actuators and sensors were used in S-learning’s planning. The ability of S-learning to make movement plans was completely dependent on experience it gained as it explored. Initially it had no experience and was forced to wander randomly. With increasing exposure to the task, S-learning achieved its goals with more nearly optimal paths. The fact that this approach is model-free implies that it may be applied to many other systems, perhaps even to systems of much greater complexity.
Starting Page	566
Ending Page	572
File Size	1175513
Page Count	7
File Format	PDF
ISBN	9780769537368
DOI	10.1109/ICNC.2009.38
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-14
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators model-free biologically-inspired Biological system modeling Computational modeling Laboratories mobile robot Calibration Mobile robots reinforcement learning Learning Biology computing Robot sensing systems sequence learning Biological control systems
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

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