UZH-Logo

Maintenance Infos

Embodied moving-target seeking with prediction and planning


Hoffmann, Matej; Oses, Noelia; Koene, Randal A (2010). Embodied moving-target seeking with prediction and planning. Lecture Notes in Computer Science, 6077:478-485.

Abstract

We present a bio-inspired control method for moving-target seeking with a mobile robot, which resembles a predator-prey scenario. The motor repertoire of a simulated Khepera robot was restricted to a discrete number of "gaits". After an exploration phase, the robot automatically synthesizes a model of its motor repertoire, acquiring a forward model. Two additional components were introduced for the task of catching a prey robot. First, an inverse model to the forward model, which is used to determine the action (gait) needed to reach a desired location. Second, while hunting the prey, a model of the prey's behavior is learned online by the hunter robot. All the models are learned ab initio, without assumptions, work in egocentric coordinates, and are probabilistic in nature. Our architecture can be applied to robots with any physical constraints (or embodiment), such as legged robots.

We present a bio-inspired control method for moving-target seeking with a mobile robot, which resembles a predator-prey scenario. The motor repertoire of a simulated Khepera robot was restricted to a discrete number of "gaits". After an exploration phase, the robot automatically synthesizes a model of its motor repertoire, acquiring a forward model. Two additional components were introduced for the task of catching a prey robot. First, an inverse model to the forward model, which is used to determine the action (gait) needed to reach a desired location. Second, while hunting the prey, a model of the prey's behavior is learned online by the hunter robot. All the models are learned ab initio, without assumptions, work in egocentric coordinates, and are probabilistic in nature. Our architecture can be applied to robots with any physical constraints (or embodiment), such as legged robots.

Altmetrics

Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Date:25 June 2010
Deposited On:12 Feb 2011 08:24
Last Modified:05 Apr 2016 14:35
Publisher:Springer
ISSN:0302-9743
Publisher DOI:10.1007/978-3-642-13803-4_59

Download

Full text not available from this repository.View at publisher

TrendTerms

TrendTerms displays relevant terms of the abstract of this publication and related documents on a map. The terms and their relations were extracted from ZORA using word statistics. Their timelines are taken from ZORA as well. The bubble size of a term is proportional to the number of documents where the term occurs. Red, orange, yellow and green colors are used for terms that occur in the current document; red indicates high interlinkedness of a term with other terms, orange, yellow and green decreasing interlinkedness. Blue is used for terms that have a relation with the terms in this document, but occur in other documents.
You can navigate and zoom the map. Mouse-hovering a term displays its timeline, clicking it yields the associated documents.

Author Collaborations