Adaptive traversability of partially occluded obstacles
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00235483" target="_blank" >RIV/68407700:21230/15:00235483 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/15:00235483
Result on the web
<a href="http://dx.doi.org/10.1109/ICRA.2015.7139752" target="_blank" >http://dx.doi.org/10.1109/ICRA.2015.7139752</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2015.7139752" target="_blank" >10.1109/ICRA.2015.7139752</a>
Alternative languages
Result language
angličtina
Original language name
Adaptive traversability of partially occluded obstacles
Original language description
Controlling mobile robots with complex articulated parts and hence many degrees of freedom generates high cognitive load on the operator, especially under demanding conditions such as in Urban Search & Rescue missions. We propose a solution based on reinforcement learning in order to accommodate the robot morphology automatically to the terrain and the obstacles it traverses. In this paper, we concentrate on the crucial issue of predicting rewards from incomplete or missing data. For this purpose we exploit the Gaussian processes as a predictor combined with decision trees. We demonstrate our achievements in a series of experiments on real data.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GA14-13876S" target="_blank" >GA14-13876S: Perception methods for long-term autonomy of mobile robots</a><br>
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2015 IEEE International Conference on Robotics and Automation (ICRA 2015)
ISBN
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ISSN
1050-4729
e-ISSN
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Number of pages
6
Pages from-to
3959-3964
Publisher name
IEEE
Place of publication
Piscataway
Event location
Seattle
Event date
May 26, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000370974903142