About: Adaptive Traversability of Unknown Complex Terrain with Obstacles for Mobile Robots

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	In this paper we introduce the concept of Adaptive Traversability (AT), which we define as means of autonomous motion control adapting the robot morphology config uration of articulated parts and their compliances to traverse unknown complex terrain wit h obstacles in an optimal way. We verify this concept by proposing a reinforcement learnin g based AT algorithm for mobile robots operating in such conditions. We demonstrate the fu nctionality by training the AT algorithm under lab conditions on simple EUR-pallet obstacl es and then testing it successfully on natural obstacles in a forest. For quantitative eva luation we define a metrics based on comparison with expert operator. Exploiting the propo sed AT algorithm significantly decreases the cognitive load of the operator. In this paper we introduce the concept of Adaptive Traversability (AT), which we define as means of autonomous motion control adapting the robot morphology config uration of articulated parts and their compliances to traverse unknown complex terrain wit h obstacles in an optimal way. We verify this concept by proposing a reinforcement learnin g based AT algorithm for mobile robots operating in such conditions. We demonstrate the fu nctionality by training the AT algorithm under lab conditions on simple EUR-pallet obstacl es and then testing it successfully on natural obstacles in a forest. For quantitative eva luation we define a metrics based on comparison with expert operator. Exploiting the propo sed AT algorithm significantly decreases the cognitive load of the operator. (en)
Title	Adaptive Traversability of Unknown Complex Terrain with Obstacles for Mobile Robots Adaptive Traversability of Unknown Complex Terrain with Obstacles for Mobile Robots (en)
skos:prefLabel	Adaptive Traversability of Unknown Complex Terrain with Obstacles for Mobile Robots Adaptive Traversability of Unknown Complex Terrain with Obstacles for Mobile Robots (en)
skos:notation	RIV/68407700:21230/14:00218859!RIV15-MSM-21230___
http://linked.open...avai/riv/aktivita	P S
http://linked.open...avai/riv/aktivity	P(GA14-13876S), P(TE01020197), S
http://linked.open...vai/riv/dodaniDat	2015
http://linked.open...aciTvurceVysledku	Hlaváč, Václav Zimmermann, Karel Reinštein, Michal Zuzánek, Petr
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	1609
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/14:00218859
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Search and Rescue Robots; Climbing robots; Learning and Adaptive Systems (en)
http://linked.open.../riv/klicoveSlovo	Climbing robots Learning and Adaptive Systems Search and Rescue Robots
http://linked.open...ontrolniKodProRIV	[35F76EC515E4]
http://linked.open...v/mistoKonaniAkce	Hong Kong
http://linked.open...i/riv/mistoVydani	Piscataway
http://linked.open...i/riv/nazevZdroje	ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	4 (xsd:int)
http://linked.open...cetTvurcuVysledku	4 (xsd:int)
http://linked.open...vavai/riv/projekt	Centre for Applied Cybernetics 3 Strojové vnímání pro dlouhodobou autonomii mobilních robotů
http://linked.open...UplatneniVysledku	2014
http://linked.open...iv/tvurceVysledku	Hlaváč, Václav Zimmermann, Karel Reinštein, Michal Zuzánek, Petr
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2014-05-31 (xsd:date)
number of pages	6 (xsd:int)
http://purl.org/ne...btex#hasPublisher	IEEE
https://schema.org/isbn	978-1-4799-3684-7
http://localhost/t...ganizacniJednotka	21230

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