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Online Incremental Learning of the Terrain Traversal Cost in Autonomous Exploration

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00332830" target="_blank" >RIV/68407700:21230/19:00332830 - isvavai.cz</a>

  • Result on the web

    <a href="http://www.roboticsproceedings.org/rss15/p40.html" target="_blank" >http://www.roboticsproceedings.org/rss15/p40.html</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.15607/RSS.2019.XV.040" target="_blank" >10.15607/RSS.2019.XV.040</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Online Incremental Learning of the Terrain Traversal Cost in Autonomous Exploration

  • Original language description

    In this paper, we address motion efficiency in autonomous robot exploration with multi-legged walking robots that can traverse rough terrains at the cost of lower efficiency and greater body vibration. We propose a robotic system for online and incremental learning of the terrain traversal cost that is immediately utilized to reason about next navigational goals in building spatial model of the robot surrounding. The traversal cost experienced by the robot is characterized by incrementally constructed Gaussian Processes using Bayesian Committee Machine. During the exploration, the robot builds the spatial terrain model, marks untraversable areas, and leverages the Gaussian Process predictive variance to decide whether to improve the spatial model or decrease the uncertainty of the terrain traversal cost. The feasibility of the proposed approach has been experimentally verified in a fully autonomous deployment with the hexapod walking robot

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Result continuities

  • Project

    Result was created during the realization of more than one project. More information in the Projects tab.

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2019

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    Online Proceedings of Robotics Science and Systems

  • ISBN

    978-0-9923747-5-4

  • ISSN

  • e-ISSN

  • Number of pages

    10

  • Pages from-to

  • Publisher name

    Albert Ludwig University of Freiburg

  • Place of publication

    Freiburg im Breisgau

  • Event location

    Freiburg

  • Event date

    Jun 22, 2019

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article