| Presentation | 2019-03-01 Local path generation using deep reinforcement learning for four-limbed robots in disaster site Toshiki Kurosawa, Hiroyuki Ogata, Takaaki Ohkawauchi, Takashi Matsuzawa, Ohya Jun, Kenji Hashimoto, Atsuo Takanishi, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In recent years, the demand for the use of robots in disaster sites has increased. In this paper, we propose and investigate a method to generate a local path in a disaster responding 4-limbed robot(WAREC - 1) under present circumstances in the presence of obstacles and debris. In this paper, we use a simulator to verify the proposed method in various environments assumed in a disaster site. Experiments showed that local paths suitable for disaster response robots can be generated even on roads where obstacles with difficulty describing their features exist. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | CNN / 4-limbed robot / deep reinforcement learning / obstacle avoidance / Movement of rough terrain |
| Paper # | PRMU2018-125,CNR2018-48 |
| Date of Issue | 2019-02-21 (PRMU, CNR) |
| Conference Information | |
| Committee | PRMU / CNR |
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| Conference Date | 2019/2/28(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Shinichi Sato(NII) / Tetsuo Ono(Hokkaido Univ.) |
| Vice Chair | Yoshihisa Ijiri(Omron) / Toru Tamaki(Hiroshima Univ.) / Masayuki Kanbara(NAIST) / Kazunori Takashio(Keio Univ.) |
| Secretary | Yoshihisa Ijiri(NEC) / Toru Tamaki(Osaka Univ.) / Masayuki Kanbara(Hokkaido Univ.) / Kazunori Takashio(Panasonic) |
| Assistant | Go Irie(NTT) / Yoshitaka Ushiku(Univ. of Tokyo) / Wataru Mito(SECOM) / Yuka Kobayashi(Toshiba) / Tatsuya Ishihara(NTT) |
| Paper Information | |
| Registration To | Technical Committee on Pattern Recognition and Media Understanding / Technical Committee on Cloud Network Robotics |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Local path generation using deep reinforcement learning for four-limbed robots in disaster site |
| Sub Title (in English) | |
| Keyword(1) | CNN |
| Keyword(2) | 4-limbed robot |
| Keyword(3) | deep reinforcement learning |
| Keyword(4) | obstacle avoidance |
| Keyword(5) | Movement of rough terrain |
| 1st Author's Name | Toshiki Kurosawa |
| 1st Author's Affiliation | Waseda University(Waseda Univ.) |
| 2nd Author's Name | Hiroyuki Ogata |
| 2nd Author's Affiliation | Seikei University(Seikei Univ.) |
| 3rd Author's Name | Takaaki Ohkawauchi |
| 3rd Author's Affiliation | Waseda University(Waseda Univ.) |
| 4th Author's Name | Takashi Matsuzawa |
| 4th Author's Affiliation | Waseda University(Waseda Univ.) |
| 5th Author's Name | Ohya Jun |
| 5th Author's Affiliation | Waseda University(Waseda Univ.) |
| 6th Author's Name | Kenji Hashimoto |
| 6th Author's Affiliation | Meiji University(Meiji Univ) |
| 7th Author's Name | Atsuo Takanishi |
| 7th Author's Affiliation | Waseda University(Waseda Univ.) |
| Date | 2019-03-01 |
| Paper # | PRMU2018-125,CNR2018-48 |
| Volume (vol) | vol.118 |
| Number (no) | PRMU-459,CNR-460 |
| Page | pp.pp.59-64(PRMU), pp.59-64(CNR), |
| #Pages | 6 |
| Date of Issue | 2019-02-21 (PRMU, CNR) |