Event detection and localization in mobile robot navigation using reservoir computing
| Title | Event detection and localization in mobile robot navigation using reservoir computing |
| Publication Type | Conference Proceedings |
| Year of Conference | 2007 |
| Authors | Antonelo EA, Schrauwen B, Dutoit X, Stroobandt D, Nuttin M |
| Conference Name | Artificial Neural Networks -- ICANN 2007 |
| Volume | Lecture Notes in Computer Science, vol 4669 |
| Edition | de Sá J.M., Alexandre L.A., Duch W., Mandic D. |
| Pagination | 660-669 |
| Publisher | Springer-Verlag |
| ISBN | 978-3-540-74695-9 |
| Keywords | ESN |
| Abstract | Reservoir Computing (RC) uses a randomly created recur- rent neural network where only a linear readout layer is trained. In this work, RC is used for detecting complex events in autonomous robot navi- gation. This can be extended to robot localization based solely on sensory information. The robot thus builds an implicit map of the environment without the use of odometry data. These techniques are demonstrated in simulation on several complex and even dynamic environments. |
| URL | https://link.springer.com/chapter/10.1007/978-3-540-74695-9_68 |
| DOI | 10.1007/978-3-540-74695-9_68 |
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