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Mobile Robot Control in the Road Sign Problem using Reservoir Computing Networks

on Thu, 09/29/2016 - 19:51
TitleMobile Robot Control in the Road Sign Problem using Reservoir Computing Networks
Publication TypeConference Paper
Year of Publication2008
AuthorsAntonelo EA, Schrauwen B, Stroobandt D
Conference NameProceedings of the IEEE Int. Conf. on Robotics and Automation (ICRA)
Abstract

In this work we tackle the road sign problem with Reservoir Computing (RC) networks. The T-maze task (a particular form of the road sign problem) consists of a robot in a T-shaped environment that must reach the correct goal (left or right arm of the T-maze) depending on a previously received input sign. It is a control task in which the delay period between the sign received and the required response (e.g., turn right or left) is a crucial factor. Delayed response tasks like this one form a temporal problem that can be handled very well by RC networks. Reservoir Computing is a biologically plausible technique which overcomes the problems of previous algorithms such as Backpropagation Through Time - which exhibits slow (or non-) convergence on training. RC is a new concept that includes a fast and efficient training algorithm. We show that this simple approach can solve the T-maze task efficiently.