Event detection and localization in mobile robot navigation using reservoir computing

Authors:
Eric A. Antonelo;Benjamin Schrauwen;Xavier Dutoit;Dirk Stroobandt;Marnix Nuttin
Affiliations:
Electronics and Information Systems Department, Ghent University, Belgium;Electronics and Information Systems Department, Ghent University, Belgium;Department of Mechanical Engineering, Katholic University of Leuven, Belgium;Electronics and Information Systems Department, Ghent University, Belgium;Department of Mechanical Engineering, Katholic University of Leuven, Belgium
Venue:
ICANN'07 Proceedings of the 17th international conference on Artificial neural networks
Year:
2007

Citing 5
Cited 7

An Behavior-based Robotics

An Behavior-based Robotics
Real-time computing without stable states: a new framework for neural computation based on perturbations

Neural Computation
Extracting Situation Facts from Activation Value Histories in Behavior-Based Robots

KI '01 Proceedings of the Joint German/Austrian Conference on AI: Advances in Artificial Intelligence
2007 Special Issue: Optimization and applications of echo state networks with leaky- integrator neurons

Neural Networks
2007 Special Issue: An experimental unification of reservoir computing methods

Neural Networks

Generative Modeling of Autonomous Robots and their Environments using Reservoir Computing

Neural Processing Letters
2008 Special Issue: Event detection and localization for small mobile robots using reservoir computing

Neural Networks
Stable Output Feedback in Reservoir Computing Using Ridge Regression

ICANN '08 Proceedings of the 18th international conference on Artificial Neural Networks, Part I
Pruning and regularization in reservoir computing

Neurocomputing
Memory-enhanced evolutionary robotics: the echo state network approach

CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
Genetic algorithm for reservoir computing optimization

IJCNN'09 Proceedings of the 2009 international joint conference on Neural Networks
PSO for reservoir computing optimization

ICANN'12 Proceedings of the 22nd international conference on Artificial Neural Networks and Machine Learning - Volume Part I

Quantified Score

Hi-index	0.00

Visualization

Abstract

Reservoir Computing (RC) uses a randomly created recurrent neural network where only a linear readout layer is trained. In this work, RC is used for detecting complex events in autonomous robot navigation. This can be extended to robot localization based solely on sensory information. The robot thus builds an implicit map of the environment without the use of odometry data. These techniques are demonstrated in simulation on several complex and even dynamic environments.