Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Intelligence without representation
Artificial Intelligence
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Learning Hierarchical Performance Knowledge by Observation
ICML '99 Proceedings of the Sixteenth International Conference on Machine Learning
Explanation-Driven Case-Based Reasoning
EWCBR '93 Selected papers from the First European Workshop on Topics in Case-Based Reasoning
ICCBR '95 Proceedings of the First International Conference on Case-Based Reasoning Research and Development
A Fast Vision System for Middle Size Robots in RoboCup
RoboCup 2001: Robot Soccer World Cup V
Interaction and Intelligent Behavior
Interaction and Intelligent Behavior
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Emergent (mis)behavior vs. complex software systems
Proceedings of the 1st ACM SIGOPS/EuroSys European Conference on Computer Systems 2006
International Journal of Intelligent Systems Technologies and Applications
Improving weed pressure assessment using digital images from an experience-based reasoning approach
Computers and Electronics in Agriculture
Stratified case-based reasoning: reusing hierarchical problem solving episodes
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 1
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Biologically-inspired visual-motor coordination model in a navigation problem
KES'06 Proceedings of the 10th international conference on Knowledge-Based Intelligent Information and Engineering Systems - Volume Part III
Map-Based multiple model tracking of a moving object
RoboCup 2004
Robot programming by demonstration
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Hi-index | 0.00 |
A traditional problem in robotics is adaptation of developed algorithms to different platforms and sensors, as each of them has its specifics and associated errors. Hierarchical control architectures deal with the problem through division of the system into layers, where deliberative processing is performed at high level and low level layers are in charge of dealing with reactive behaviors and adaptation to platform and sensor hardware. Specifically, approaches based on the Emergent Behavior Theory rely on building high level behaviors by combining simpler ones that provide intuitive reactive responses to sensory instance. This combination is controlled by higher layers in order to obtain more complex behaviors. Unfortunately, low level behaviors might be difficult to develop, specially when dealing with legged robots and sensors like video cameras, where resulting motion is heavily influenced by the robot kinematics and dynamics and sensory input is affected by external conditions, transformations, distortions, noise and motion itself (e.g. the camera bouncing problem). In this paper, we propose a new learning based method to solve most of these problems. It basically consists of creating a reactive behavior by supervisedly driving a robot for a time. During that time, its visual input is reactively associated to commands sent to the robot through a Case Based Reasoning (CBR) behavior builder. Thus, the robot learns what the person would do in its situation to achieve a certain goal. This approach has two advantages. First, humans are particularly good at adapting and taking into account the specifics of a given mobile after some use. Thus, kinematics and dynamics are absorbed into the casebase along with how the person thinks they should be dealt with by that particular robot. Similarly, commands are associated to the input sensor as is, so systematic errors in sensors and motors are also implicitly learnt in the casebase (camera bouncing, distorsions, noise ...). Also, different reactive strategies to reach a simple goal can be programmed into the robot by showing, rather than by coding. This is particularly useful because some reactive behaviors are ill-fitted to equations. Naturally, CBR allows online adaptation to potential changes after supervised training, so the system is able to learn by itself when working autonomously too. The proposed system has been successfully tested in a 4-legged Aibo robot in a controlled environment. To prove that it is adequate to create low level layers for hybrid architectures, two different CBR reactive behaviors have been tested and combined into an emergent one. A deliberative layer could be used to extent the system to more complex environments.