2010 Latin American Robotics Symposium and Intelligent Robotics Meeting最新文献_第2页

Statistical Analysis of Image-Features Used as Inputs of an Road Identifier Based in Artificial Neural Networks 基于人工神经网络的道路识别输入图像特征统计分析

2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.25

P. Shinzato, D. Wolf

引用次数: 3

Using Transfer Learning to Speed-Up Reinforcement Learning: A Cased-Based Approach

2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.24

L. A. Jr., J. Matsuura, R. L. de Mántaras, Reinaldo A. C. Bianchi

{"title":"Using Transfer Learning to Speed-Up Reinforcement Learning: A Cased-Based Approach","authors":"L. A. Jr., J. Matsuura, R. L. de Mántaras, Reinaldo A. C. Bianchi","doi":"10.1109/LARS.2010.24","DOIUrl":"https://doi.org/10.1109/LARS.2010.24","url":null,"abstract":"Reinforcement Learning (RL) is a well-known technique for the solution of problems where agents need to act with success in an unknown environment, learning through trial and error. However, this technique is not efficient enough to be used in applications with real world demands due to the time that the agent needs to learn. This paper investigates the use of Transfer Learning (TL) between agents to speed up the well-known Q-learning Reinforcement Learning algorithm. The new approach presented here allows the use of cases in a case base as heuristics to speed up the Q-learning algorithm, combining Case-Based Reasoning (CBR) and Heuristically Accelerated Reinforcement Learning (HARL) techniques. A set of empirical evaluations were conducted in the Mountain Car Problem Domain, where the actions learned during the solution of the 2D version of the problem can be used to speed up the learning of the policies for its 3D version. The experiments were made comparing the Q-learning Reinforcement Learning algorithm, the HAQL Heuristic Accelerated Reinforcement Learning (HARL) algorithm and the TL-HAQL algorithm, proposed here. The results show that the use of a case-base for transfer learning can lead to a significant improvement in the performance of the agent, making it learn faster than using either RL or HARL methods alone.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116789813","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 32

TORP: An Open Standard Framework for Humanoid Robots TORP:人形机器人的开放标准框架

2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.29

E. Colombini, A. S. Simões, J. Matsuura, M. N. Franchin

{"title":"TORP: An Open Standard Framework for Humanoid Robots","authors":"E. Colombini, A. S. Simões, J. Matsuura, M. N. Franchin","doi":"10.1109/LARS.2010.29","DOIUrl":"https://doi.org/10.1109/LARS.2010.29","url":null,"abstract":"Humanoid robots are an extremely complex interdisciplinary research field. Particularly, the development of high size humanoid robots usually requires joint efforts and skills from groups that are in many different research centers around the world. However, there are serious constraints in this kind of collaborative development. Some efforts have been made in order to propose new software frameworks that can allow distributed development with also some degree of hardware abstraction, allowing software reuse in successive projects. However, computation represents only one of the dimensions in robotics tasks, and the need for reuse and exchange of full robot modules between groups are growing. Large advances could be reached if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a new robot framework, from now on called TORP (The Open Robot Project), that aims to provide a standard architecture in all dimensions (electrical, mechanical and computational) for this collaborative development. This methodology also represents an open project that is fully shared. In this paper, the first robot constructed following the TORP specification set is presented as well as the advances proposed for its improvement.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114992669","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Monocular-SLAM Using Floor Lines 使用地板线的单眼slam

2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.15

A. M. Santana, A. Medeiros

引用次数: 2

Decentralized Control of a Formation Involving a Miniature Helicopter and a Team of Ground Robots Based on Artificial Vision 基于人工视觉的微型直升机与地面机器人编队分散控制

2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.12

A. Brandão, J. Sarapura, Eliete Caldeira, M. Sarcinelli-Filho, R. Carelli

引用次数: 15

HW/SW Co-design Architecture for Evolutionary Robotics 进化机器人的软硬件协同设计体系结构

2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.30

M. A. Dias, D. Sales, F. Osório

引用次数: 2

Exploring Microsoft Robotics Studio as a Mechanism for Service-Oriented Robotics 探索Microsoft Robotics Studio作为面向服务的机器人的机制

2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.18

Jesús S. Cepeda, L. Chaimowicz, R. Soto

{"title":"Exploring Microsoft Robotics Studio as a Mechanism for Service-Oriented Robotics","authors":"Jesús S. Cepeda, L. Chaimowicz, R. Soto","doi":"10.1109/LARS.2010.18","DOIUrl":"https://doi.org/10.1109/LARS.2010.18","url":null,"abstract":"When working with mobile robots, a typical task consists in developing simulated tests before going towards the real implementations. Nevertheless, this simulation stage may be very time consuming for setting-up environments and robots. Also, after demonstrating that things worked well in the simulated environment, implementing algorithms in the real robots demands an extra time consuming stage that requires for the programmer to adapt the code for the real connections. Once this is done, the real world problems come to be the core of challenges in the mobile robotics research area. In that way, service-oriented robotics is starting to provide a path for quick simulation and real implementation setups. In this paper, we make use of the Microsoft Robotics Developer Studio (MSRDS) and a Mobile Robots Pioneer 3-AT robot for exploring its behavior under different service providers. Experiments are shown for demonstrating simulated and real tests using technologies as: speech recognition, vision, and sensor-based navigation. Also, information about the main functionality of MSRDS, including VPL and SPL, is presented.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121653746","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 29

Predictive Control of an Omnidirectional Mobile Robot with Friction Compensation 带摩擦补偿的全向移动机器人预测控制

2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.22

A. S. Conceição, C. Dórea, Julio C.L. Barreto Sb.

引用次数: 11

Dynamic Modeling with Nonlinear Inputs and Backstepping Control for a Hexarotor Micro-Aerial Vehicle 六旋翼微型飞行器非线性输入动力学建模与反演控制

2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.14

A. Sanca, P. Alsina, J.J.F. Cerqueira

引用次数: 29

Evaluation of an ICP Based Algorithm for Simultaneous Localization and Mapping Using a 3D Simulated P3DX Robot 基于ICP的三维模拟P3DX机器人同步定位与映射算法的评价

2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.23

W. F. Costa, J. Matsuura, F. Santana, A. Saraiva

引用次数: 5