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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 Proceedings
Year of Conference2007
AuthorsAntonelo EA, Schrauwen B, Dutoit X, Stroobandt D, Nuttin M
Conference NameArtificial Neural Networks -- ICANN 2007
VolumeLecture Notes in Computer Science, vol 4669
Editionde Sá J.M., Alexandre L.A., Duch W., Mandic D.
Pagination660-669
PublisherSpringer-Verlag
ISBN978-3-540-74695-9
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.

URLhttps://link.springer.com/chapter/10.1007/978-3-540-74695-9_68
DOI10.1007/978-3-540-74695-9_68