LONG-TERM VS. GREEDY ACTION PLANNING FOR COLOR LEARNING ON A MOBILE ROBOT

Mohan Sridharan, Peter Stone

2008

Abstract

A major challenge to the deployment of mobile robots is the ability to function autonomously, learning appropriate models for environmental features and adapting those models in response to environmental changes. This autonomous operation in turn requires autonomous selection/planning of an action sequence that facilitates learning and adaptation. Here we focus on color modeling/learning and analyze two algorithms that enable a mobile robot to plan action sequences that facilitate color learning: a long-term action selection approach that maximizes color learning opportunities while minimizing localization errors over an entire action sequence, and a greedy/heuristic action selection approach that plans incrementally, one step at a time, to maximize the benefits based on the current state of the world. The long-term action selection results in a more principled solution that requires minimal human supervision, while better failure recovery is achieved by incorporating features of the greedy planning approach. All algorithms are fully implemented and tested on the Sony AIBO robots.

Paper Citation

in Harvard Style

Sridharan M. and Stone P. (2008). LONG-TERM VS. GREEDY ACTION PLANNING FOR COLOR LEARNING ON A MOBILE ROBOT . In Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008) ISBN 978-989-8111-21-0, pages 682-685. DOI: 10.5220/0001088606820685

in Bibtex Style

@conference{visapp08,
author={Mohan Sridharan and Peter Stone},
title={LONG-TERM VS. GREEDY ACTION PLANNING FOR COLOR LEARNING ON A MOBILE ROBOT},
booktitle={Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)},
year={2008},
pages={682-685},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001088606820685},
isbn={978-989-8111-21-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)
TI - LONG-TERM VS. GREEDY ACTION PLANNING FOR COLOR LEARNING ON A MOBILE ROBOT
SN - 978-989-8111-21-0
AU - Sridharan M.
AU - Stone P.
PY - 2008
SP - 682
EP - 685
DO - 10.5220/0001088606820685