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Event detection and localization in mobile robot navigation using reservoir computing

on Thu, 09/29/2016 - 19:51
TitleEvent detection and localization in mobile robot navigation using reservoir computing
Publication TypeConference Paper
Year of Publication2007
AuthorsAntonelo EA, Schrauwen B, Dutoit X, Stroobandt D, Nuttin M
Conference NameICANN, Part II
PublisherSpringer-Verlag
KeywordsESN
Abstract

Reservoir Computing (RC) uses a randomly created recur- rent neural network where only a linear readout layer is trained. In this work, RC is used for detecting complex events in autonomous robot navi- gation. 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.