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Proceedings Paper

Perception-stimulated generation of simple robot navigation behavior
Author(s): Kurt Malmstrom; Joaquin Sitte; Burkhard Iske
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Paper Abstract

Newborn animals go through a period of adaptation and learning before they reach their full sensory-motor capa- bilities. A similar development strategy could be advantageous for newly built autonomous robots. In this paper we describe how a robot equipped with a generic, adaptive sensory and motor system con gures itself and acquires target approach behaviour purely from the exposure to sensory stimulation. Selforganising feature maps (SOM) and reinforcement learning provide the necessary adaptive mechanisms. These mechanisms are generic in the sense that they contain minimal dependencies on the actual devices used for sensor and actuator implementation. Our results demonstrate the behaviour acquisition can be achieved in autonomous fashion, in real time on a real minirobot.

Paper Details

Date Published: 2 March 2001
PDF: 12 pages
Proc. SPIE 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, (2 March 2001); doi: 10.1117/12.417304
Show Author Affiliations
Kurt Malmstrom, Queensland Univ. of Technology (Australia)
Joaquin Sitte, Queensland Univ. of Technology (Australia)
Burkhard Iske, Univ. of Paderborn (Germany)


Published in SPIE Proceedings Vol. 4195:
Mobile Robots XV and Telemanipulator and Telepresence Technologies VII
Matthew R. Stein; Howie M. Choset; Douglas W. Gage; Matthew R. Stein, Editor(s)

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