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
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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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
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e-ISSN
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Number of pages
10
Pages from-to
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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
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