UTCS Artificial Intelligence
courses
talks/events
demos
people
projects
publications
software/data
labs
areas
admin
Sensor Map Discovery for Developing Robots (2009)
Jeremy Stober
,
Lewis">Lewis Fishgold
, and
Benjamin Kuipers
Modern mobile robots navigate uncertain environments using complex compositions of camera, laser, and sonar sensor data. Manual calibration of these sensors is a tedious process that involves determining sensor behavior, geometry and location through model specification and system identification. Instead, we seek to automate the construction of sensor model geometry by mining uninterpreted sensor streams for regularities.
Manifold learning methods are powerful techniques for deriving sensor structure from streams of sensor data. In recent years, the proliferation of manifold learning algorithms has led to a variety of choices for autonomously generating models of sensor geometry. We present a series of comparisons between different manifold learning methods for discovering sensor geometry for the specific case of a mobile robot with a variety of sensors. We also explore the effect of control laws and sensor boundary size on the efficacy of manifold learning approaches.
We find that "motor babbling" control laws generate better geometric sensor maps than mid-line or wall following control laws and identify a novel method for distinguishing boundary sensor elements. We also present a new learning method, sensorimotor embedding, that takes advantage of the controllable nature of robots to build sensor maps.
View:
PDF
Citation:
In
AAAI Fall Symposia Series: Manifold Learning and Its Applications
2009. Appears in AAAI Technical Report FS-09-04..
Bibtex:
@techreport{stober:aaai-fss09, title={Sensor Map Discovery for Developing Robots}, author={Jeremy Stober and Lewis Fishgold and Benjamin Kuipers}, booktitle={AAAI Fall Symposia Series: Manifold Learning and Its Applications}, note={Appears in AAAI Technical Report FS-09-04.}, url="http://www.cs.utexas.edu/users/ai-lab?stober:aaai-fss09", year={2009} }
People
Lewis Fishgold
Formerly affiliated Ph.D. Student
lewfish [at] cs utexas edu
Lewis Fishgold
Formerly affiliated Ph.D. Student
lewfish [at] cs utexas edu
Benjamin Kuipers
Formerly affiliated Faculty
kuipers [at] cs utexas edu
Jeremy Stober
Ph.D. Alumni
stober [at] cs utexas edu
Areas of Interest
Bootstrap Learning
Robotics