Comparing robot controllers through system identification

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

doi:10.1007/11840541_69

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 Cynhadledd › Trafodion Cynhadledd (Nid-Cyfnodolyn fathau)

1 Dyfyniad (Scopus)

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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 wreiddiol	Saesneg
Teitl	9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Proceedings
Cyhoeddwr	Springer Nature
Tudalennau	843-854
Nifer y tudalennau	12
ISBN (Argraffiad)	3540386084, 9783540386087
Dynodwyr Gwrthrych Digidol (DOIs)	https://doi.org/10.1007/11840541_69
Statws	Cyhoeddwyd - 30 Medi 2006
Cyhoeddwyd yn allanol	Ie
Digwyddiad	9th International Conference on Simulation of Adaptive Behavior, SAB 2006 - Rome, Yr Eidal Hyd: 25 Medi 2006 → 29 Medi 2006

Cyfres gyhoeddiadau

Enw	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Cyfrol	4095 LNAI
ISSN (Argraffiad)	0302-9743
ISSN (Electronig)	1611-3349

Cynhadledd

Cynhadledd	9th International Conference on Simulation of Adaptive Behavior, SAB 2006
Gwlad/Tiriogaeth	Yr Eidal
Dinas	Rome
Cyfnod	25 Medi 2006 → 29 Medi 2006

Mynediad at Ddogfen

10.1007/11840541_69

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Dolen barhaus

Ffeiliau eraill a chysylltiadau

Link to publication in Scopus

Dyfynnu hyn

Nehmzow, U., Akanyeti, O., Iglesias, R., Kyriacou, T., & Billings, S. A. (2006). Comparing robot controllers through system identification. Yn 9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Proceedings (tt. 843-854). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Cyfrol 4095 LNAI). Springer Nature. https://doi.org/10.1007/11840541_69

Nehmzow, Ulrich ; Akanyeti, Otar ; Iglesias, Roberto et al. / Comparing robot controllers through system identification. 9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Proceedings. Springer Nature, 2006. tt. 843-854 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Comparing robot controllers through system identification",

abstract = "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.",

author = "Ulrich Nehmzow and Otar Akanyeti and Roberto Iglesias and Theocharis Kyriacou and Billings, {S. A.}",

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Nehmzow, U, Akanyeti, O, Iglesias, R, Kyriacou, T & Billings, SA 2006, Comparing robot controllers through system identification. yn 9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), cyfrol. 4095 LNAI, Springer Nature, tt. 843-854, 9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Rome, Yr Eidal, 25 Medi 2006. https://doi.org/10.1007/11840541_69

Comparing robot controllers through system identification. / Nehmzow, Ulrich; Akanyeti, Otar; Iglesias, Roberto et al.
9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Proceedings. Springer Nature, 2006. t. 843-854 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Cyfrol 4095 LNAI).

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

TY - GEN

T1 - Comparing robot controllers through system identification

AU - Nehmzow, Ulrich

AU - Akanyeti, Otar

AU - Iglesias, Roberto

AU - Kyriacou, Theocharis

AU - Billings, S. A.

PY - 2006/9/30

Y1 - 2006/9/30

N2 - 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.

AB - 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.

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Nehmzow U, Akanyeti O, Iglesias R, Kyriacou T, Billings SA. Comparing robot controllers through system identification. Yn 9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Proceedings. Springer Nature. 2006. t. 843-854. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/11840541_69

Comparing robot controllers through system identification

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