Comparing robot controllers through system identification

Ulrich Nehmzow*, Otar Akanyeti, Roberto Iglesias, Theocharis Kyriacou, S. A. Billings

*Awdur cyfatebol y gwaith hwn

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)

1 Dyfyniadau(SciVal)

Crynodeb

In mobile robotics, it is common to find different control programs designed to achieve a particular robot task. It is often necessary to compare the performance of such controllers. So far this is usually done qualitatively, because of a lack of quantitative behaviour analysis methods. In this paper we present a novel approach to compare robot control codes quantitatively, based on system identification. Using the NARMAX system identification process, we "translate" the original behaviour into a transparent, analysable mathematical model of the original behaviour. We then use statistical methods and sensitivity analysis to compare models quantitatively. We demonstrate our approach by comparing two different robot control programs, which were designed to drive a Magellan Pro robot through door-like openings.

Iaith wreiddiolSaesneg
Teitl9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Proceedings
CyhoeddwrSpringer Nature
Tudalennau843-854
Nifer y tudalennau12
ISBN (Argraffiad)3540386084, 9783540386087
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 30 Medi 2006
Cyhoeddwyd yn allanolIe
Digwyddiad9th International Conference on Simulation of Adaptive Behavior, SAB 2006 - Rome, Yr Eidal
Hyd: 25 Medi 200629 Medi 2006

Cyfres gyhoeddiadau

EnwLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Cyfrol4095 LNAI
ISSN (Argraffiad)0302-9743
ISSN (Electronig)1611-3349

Cynhadledd

Cynhadledd9th International Conference on Simulation of Adaptive Behavior, SAB 2006
Gwlad/TiriogaethYr Eidal
DinasRome
Cyfnod25 Medi 200629 Medi 2006

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