About: Multi-Goal Trajectory Planning with Motion Primitives for Hexapod Walking Robot

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	This paper presents our early results on multi-goal trajectory planning with motion primitives for a hexapod walking robot. We propose to use an on-line unsupervised learning method to simultaneously find a solution of the underlying traveling salesman problem together with particular trajectories between the goals. Using this technique, we avoid pre-computation of all possible trajectories between the goals for a graph based heuristic solvers for the traveling salesman problem. The proposed approach utilizes principles of self-organizing map to steer the randomized sampling of configuration space in promising areas regarding the multi-goal trajectory. The presented results indicate the proposed steering mechanism provides a feasible multi-goal trajectory in a less number of samples than an approach based on a priori known sequence of the goals visits. This paper presents our early results on multi-goal trajectory planning with motion primitives for a hexapod walking robot. We propose to use an on-line unsupervised learning method to simultaneously find a solution of the underlying traveling salesman problem together with particular trajectories between the goals. Using this technique, we avoid pre-computation of all possible trajectories between the goals for a graph based heuristic solvers for the traveling salesman problem. The proposed approach utilizes principles of self-organizing map to steer the randomized sampling of configuration space in promising areas regarding the multi-goal trajectory. The presented results indicate the proposed steering mechanism provides a feasible multi-goal trajectory in a less number of samples than an approach based on a priori known sequence of the goals visits. (en)
Title	Multi-Goal Trajectory Planning with Motion Primitives for Hexapod Walking Robot Multi-Goal Trajectory Planning with Motion Primitives for Hexapod Walking Robot (en)
skos:prefLabel	Multi-Goal Trajectory Planning with Motion Primitives for Hexapod Walking Robot Multi-Goal Trajectory Planning with Motion Primitives for Hexapod Walking Robot (en)
skos:notation	RIV/68407700:21230/14:00224921!RIV15-MSM-21230___
http://linked.open...avai/riv/aktivita	P S
http://linked.open...avai/riv/aktivity	P(GP13-18316P), S
http://linked.open...vai/riv/dodaniDat	2015
http://linked.open...aciTvurceVysledku	Masri, Diar Vaněk, Petr Faigl, Jan
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	31000
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/14:00224921
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	motion planning; traveling salesman problem; unsupervised learning (en)
http://linked.open.../riv/klicoveSlovo	traveling salesman problem unsupervised learning motion planning
http://linked.open...ontrolniKodProRIV	[0826AEE41019]
http://linked.open...v/mistoKonaniAkce	Vienna
http://linked.open...i/riv/mistoVydani	Porto
http://linked.open...i/riv/nazevZdroje	Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...vavai/riv/projekt	Self-Organizing Maps for Multi-Goal Path Planning Tasks
http://linked.open...UplatneniVysledku	2014
http://linked.open...iv/tvurceVysledku	Faigl, Jan Vaněk, Petr Masri, Diar
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2014-09-01 (xsd:date)
number of pages	6 (xsd:int)
http://purl.org/ne...btex#hasPublisher	SciTePress - Science and Technology Publications
https://schema.org/isbn	978-989-758-040-6
http://localhost/t...ganizacniJednotka	21230

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