REFLEXIVE COLLISION RESPONSE WITH VIRTUAL SKIN - Roadmap Planning Meets Reinforcement Learning

Mikhail Frank, Alexander Förster, Jürgen Schmidhuber

2012

Abstract

Prevalent approaches to motion synthesis for complex robots offer either the ability to build up knowledge of feasible actions through exploration, or the ability to react to a changing environment, but not both. This work proposes a simple integration of roadmap planning with reflexive collision response, which allows the roadmap representation to be transformed into a Markov Decision Process. Consequently, roadmap planning is extended to changing environments, and the adaptation of the map can be phrased as a reinforcement learning problem. An implementation of the reflexive collision response is provided, such that the reinforcement learning problem can be studied in an applied setting. The feasibility of the software is analyzed in terms of runtime performance, and its functionality is demonstrated on the iCub humanoid robot.

Paper Citation

in Harvard Style

Frank M., Förster A. and Schmidhuber J. (2012). REFLEXIVE COLLISION RESPONSE WITH VIRTUAL SKIN - Roadmap Planning Meets Reinforcement Learning . In Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: SSIR, (ICAART 2012) ISBN 978-989-8425-95-9, pages 642-651. DOI: 10.5220/0003883206420651

in Bibtex Style

@conference{ssir12,
author={Mikhail Frank and Alexander Förster and Jürgen Schmidhuber},
title={REFLEXIVE COLLISION RESPONSE WITH VIRTUAL SKIN - Roadmap Planning Meets Reinforcement Learning},
booktitle={Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: SSIR, (ICAART 2012)},
year={2012},
pages={642-651},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003883206420651},
isbn={978-989-8425-95-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: SSIR, (ICAART 2012)
TI - REFLEXIVE COLLISION RESPONSE WITH VIRTUAL SKIN - Roadmap Planning Meets Reinforcement Learning
SN - 978-989-8425-95-9
AU - Frank M.
AU - Förster A.
AU - Schmidhuber J.
PY - 2012
SP - 642
EP - 651
DO - 10.5220/0003883206420651