Stair Climber Smart Mobile Robot (MSRox) |
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Authors: | Mohsen M Dalvand Majid M Moghadam |
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Affiliation: | (1) Intelligent Robotics and Communication Laboratories, Advanced Telecommunications Research Institute International, 2-2-2 Hikaridai Keihanna Science City, Kyoto 619-0288, Japan;(2) Emergent Robotics Area, Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka Suita, 565-0871, Japan;(3) Handai Frontier Research Center, Osaka |
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Abstract: | Most current mobile robots are designed to determine their actions according to their positions. Before making a decision,
they need to localize themselves. Thus, their observation strategies are mainly for self-localization. However, observation
strategies should not only be for self-localization but also for decision making. We propose an observation strategy that
enables a mobile robot to make a decision. It enables a robot equipped with a limited viewing angle camera to make decisions
without self-localization. A robot can make a decision based on a decision tree and on prediction trees of observations constructed
from its experiences. The trees are constructed based on an information criterion for the action decision, not for self-localization
or state estimation. The experimental results with a four legged robot are shown and discussed. |
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Keywords: | Decision making Decision tree Information criterion Observation strategy Active perception |
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