Artificial neural networks for autonomous robot control: reflective navigation and adaptive sensor calibration

Loffler A, Klahold J, Rückert U (1999)
In: Neural Information Processing, 1999. Proceedings. ICONIP '99. 6th International Conference on. 2. 667-672.

Conference Paper | Published | English

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Abstract
In this paper, we present the application of artificial neural networks to the control of a mobile, autonomous robot, which is acting in a totally unknown and - most importantly - dynamically changing environment. In particular, the employment of interacting 'simple', i.e. hand-designed, neural networks for navigation purposes is investigated as well as a variation of self-organizing maps for adaptive sensor calibration. We insofar take a pragmatic point of view as the minimal condition imposed on the developed algorithms is that they do well on a real system acting in a real environment. Hence, the design of all of the implemented neural networks is clearly motivated by their applicability. In this context, special considerations are dedicated to ensure robustness, real-time capability and memory resourcefulness. In order to practically demonstrate the obtained results, the minirobot Khepera is utilized as an experimentatory platform, which is - due to its small size - a versatile tool for scientific investigation.
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Loffler A, Klahold J, Rückert U. Artificial neural networks for autonomous robot control: reflective navigation and adaptive sensor calibration. In: Neural Information Processing, 1999. Proceedings. ICONIP '99. 6th International Conference on. Vol 2. 1999: 667-672.
Loffler, A., Klahold, J., & Rückert, U. (1999). Artificial neural networks for autonomous robot control: reflective navigation and adaptive sensor calibration. Neural Information Processing, 1999. Proceedings. ICONIP '99. 6th International Conference on, 2, 667-672.
Loffler, A., Klahold, J., and Rückert, U. (1999). “Artificial neural networks for autonomous robot control: reflective navigation and adaptive sensor calibration” in Neural Information Processing, 1999. Proceedings. ICONIP '99. 6th International Conference on, vol. 2, 667-672.
Loffler, A., Klahold, J., & Rückert, U., 1999. Artificial neural networks for autonomous robot control: reflective navigation and adaptive sensor calibration. In Neural Information Processing, 1999. Proceedings. ICONIP '99. 6th International Conference on. no.2 pp. 667-672.
A. Loffler, J. Klahold, and U. Rückert, “Artificial neural networks for autonomous robot control: reflective navigation and adaptive sensor calibration”, Neural Information Processing, 1999. Proceedings. ICONIP '99. 6th International Conference on, vol. 2, 1999, pp.667-672.
Loffler, A., Klahold, J., Rückert, U.: Artificial neural networks for autonomous robot control: reflective navigation and adaptive sensor calibration. Neural Information Processing, 1999. Proceedings. ICONIP '99. 6th International Conference on. 2, p. 667-672. (1999).
Loffler, A., Klahold, J., and Rückert, Ulrich. “Artificial neural networks for autonomous robot control: reflective navigation and adaptive sensor calibration”. Neural Information Processing, 1999. Proceedings. ICONIP '99. 6th International Conference on. 1999.Vol. 2. 667-672.
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