Deep Transfer Learning of Traversability Assessment for Heterogeneous Robots
Result description
For autonomous robots operating in an unknown environment, it is important to assess the traversability of the surrounding terrain to improve path planning and decision-making on where to navigate next in a cost-efficient way. Specifically, in mobile robot exploration, terrains and their traversability are unknown prior to the deployment. The robot needs to use its limited resources to learn its terrain traversability model on the go; however, reusing a provided model is still a desirable option. In a team of heterogeneous robots, the models assessing traversability cannot be reused directly since robots might possess different morphology or sensory equipment and thus experience the terrain differently. In this paper, we propose a transfer learning approach for convolutional neural networks assessing the traversability between heterogeneous robots, where the transferred network is retrained using data available for the target robot to accommodate itself to the robot’s traversability. The proposed method is verified in real-world experiments, where the proposed approach provides faster learning convergence and better traversal cost predictions than the baseline.
Keywords
heterogeneous robotstransfer learningneural networkstraversability assessment
The result's identifiers
Result code in IS VaVaI
Result on the web
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Deep Transfer Learning of Traversability Assessment for Heterogeneous Robots
Original language description
For autonomous robots operating in an unknown environment, it is important to assess the traversability of the surrounding terrain to improve path planning and decision-making on where to navigate next in a cost-efficient way. Specifically, in mobile robot exploration, terrains and their traversability are unknown prior to the deployment. The robot needs to use its limited resources to learn its terrain traversability model on the go; however, reusing a provided model is still a desirable option. In a team of heterogeneous robots, the models assessing traversability cannot be reused directly since robots might possess different morphology or sensory equipment and thus experience the terrain differently. In this paper, we propose a transfer learning approach for convolutional neural networks assessing the traversability between heterogeneous robots, where the transferred network is retrained using data available for the target robot to accommodate itself to the robot’s traversability. The proposed method is verified in real-world experiments, where the proposed approach provides faster learning convergence and better traversal cost predictions than the baseline.
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
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
Proceedings of the 22nd Conference Information Technologies – Applications and Theory (ITAT 2022)
ISBN
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ISSN
1613-0073
e-ISSN
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Number of pages
9
Pages from-to
12-20
Publisher name
CEUR Workshop Proceedings
Place of publication
Aachen
Event location
Zuberec
Event date
Sep 23, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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Basic information
Result type
D - Article in proceedings
OECD FORD
Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Year of implementation
2022