by T Belker and M Beetz
Abstract:
Most state-of-the-art navigation systems for autonomous service robots decompose navigation into global navigation planning and local reactive navigation. While the methods for navigation planning and local navigation are well understood, the plan execution problem, the problem of how to generate and parameterize local navigation tasks from a given navigation plan, is largely unsolved. This article describes how a robot can autonomously learn to execute navigation plans. We formalize the problem as a Markov Decision Problem (MDP), discuss how it can be simplified to make its solution feasible, and describe how the robot can acquire the necessary action models. We show, both in simulation and on a RWI B21 mobile robot, that the learned models are able to produce competent navigation behavior.
Reference:
Learning to Execute Robot Navigation Plans (T Belker and M Beetz), In Proceedings of the 25th German Conference on Artificial Intelligence (KI 01), Springer Verlag, 2001.
Bibtex Entry:
@inproceedings{belker_learning_2001,
author = {T Belker and M Beetz},
title = {Learning to Execute Robot Navigation Plans},
booktitle = {Proceedings of the 25th German Conference on Artificial Intelligence
({KI} 01)},
year = {2001},
address = {Wien, Austria},
publisher = {Springer Verlag},
abstract = {Most state-of-the-art navigation systems for autonomous service robots
decompose navigation into global navigation planning and local reactive
navigation. While the methods for navigation planning and local navigation
are well understood, the plan execution problem, the problem of how
to generate and parameterize local navigation tasks from a given
navigation plan, is largely unsolved. This article describes how
a robot can autonomously learn to execute navigation plans. We formalize
the problem as a Markov Decision Problem ({MDP)}, discuss how it
can be simplified to make its solution feasible, and describe how
the robot can acquire the necessary action models. We show, both
in simulation and on a {RWI} B21 mobile robot, that the learned models
are able to produce competent navigation behavior.},
}