Traversability Transfer Learning Between Robots with Different Cost Assessment Policies
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00359490" target="_blank" >RIV/68407700:21230/22:00359490 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1007/978-3-030-98260-7_21" target="_blank" >https://doi.org/10.1007/978-3-030-98260-7_21</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-030-98260-7_21" target="_blank" >10.1007/978-3-030-98260-7_21</a>
Alternative languages
Result language
angličtina
Original language name
Traversability Transfer Learning Between Robots with Different Cost Assessment Policies
Original language description
Predicting mobile robots' traversability over terrains is crucial to select safe and efficient paths through rough and unstructured environments. In multi-robot missions, knowledge transfer techniques can enable learning terrain traversability assessment the robots did not experience individually. The knowledge can be incrementally aggregated for homogeneous robots since they can treat foreign knowledge as their own. However, robots with different perceptions might experience the same terrain differently, so it is impossible to aggregate the shared knowledge directly. In this paper, we show how to learn a model that transfers the experience between heterogeneous robots, enabling each robot to use the whole sum of the experience of the multi-robot team. The proposed approach uses correlation to combine individual neural networks that assess the traversability of individual robots. The presented method has been verified in a real-world deployment of multi-legged walking robots with different cost assessment policies.
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
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Modelling and Simulation for Autonomus Systems
ISBN
978-3-030-98259-1
ISSN
0302-9743
e-ISSN
1611-3349
Number of pages
12
Pages from-to
333-344
Publisher name
Springer-Verlag
Place of publication
Berlin
Event location
Virtual
Event date
Oct 20, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000787774900021