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

Research output: Chapter in Book/Report/Conference proceeding › Conference Proceeding (Non-Journal item)

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.

Original language	English
Title of host publication	9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Proceedings
Publisher	Springer Nature
Pages	843-854
Number of pages	12
ISBN (Print)	3540386084, 9783540386087
DOIs	https://doi.org/10.1007/11840541_69
Publication status	Published - 30 Sept 2006
Externally published	Yes
Event	9th International Conference on Simulation of Adaptive Behavior, SAB 2006 - Rome, Italy Duration: 25 Sept 2006 → 29 Sept 2006

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	4095 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	9th International Conference on Simulation of Adaptive Behavior, SAB 2006
Country/Territory	Italy
City	Rome
Period	25 Sept 2006 → 29 Sept 2006

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10.1007/11840541_69

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Nehmzow, U., Akanyeti, O., Iglesias, R., Kyriacou, T., & Billings, S. A. (2006). Comparing robot controllers through system identification. In 9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Proceedings (pp. 843-854). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 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. pp. 843-854 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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Nehmzow, U, Akanyeti, O, Iglesias, R, Kyriacou, T & Billings, SA 2006, Comparing robot controllers through system identification. in 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), vol. 4095 LNAI, Springer Nature, pp. 843-854, 9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Rome, Italy, 25 Sept 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. p. 843-854 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4095 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference Proceeding (Non-Journal item)

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Nehmzow U, Akanyeti O, Iglesias R, Kyriacou T, Billings SA. Comparing robot controllers through system identification. In 9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Proceedings. Springer Nature. 2006. p. 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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