Comparing robot controllers through system identification

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

*Corresponding author for this work

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

1 Citation (SciVal)

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 languageEnglish
Title of host publication9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Proceedings
PublisherSpringer Nature
Pages843-854
Number of pages12
ISBN (Print)3540386084, 9783540386087
DOIs
Publication statusPublished - 30 Sept 2006
Externally publishedYes
Event9th International Conference on Simulation of Adaptive Behavior, SAB 2006 - Rome, Italy
Duration: 25 Sept 200629 Sept 2006

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4095 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference9th International Conference on Simulation of Adaptive Behavior, SAB 2006
Country/TerritoryItaly
CityRome
Period25 Sept 200629 Sept 2006

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