| Presentation | 2002/7/19 Navigation of Mobile Robot using Neural-Gas and Reinforcement Learning Toshio TANAKA, Kenji NISHIDA, Takio KURITA, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Martinetz et al. proposed a neural network model which can preserve the topology of the place cells and can be self-organized by using neural-gas and competitive Hebbian learning. In his computer simulation on exploration of a rat in an environment consisted of the square area with a number of obstacles, it is shown that both a topology preserving map and a path preserving representation of the obstacle-free area can be self-organized by the network. In this paper, we propose a learning algorithm for navigation on the Martinetz's network based on the actor-critic reinforcement learning. Our simulation results shows that the time to arrive at the goal gradually improved as the learning proceeds. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | neural-gas / place cell / mobile robot / navigation / reinforcement learning |
| Paper # | NC2002-41 |
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| Committee | NC |
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| Conference Date | 2002/7/19(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Navigation of Mobile Robot using Neural-Gas and Reinforcement Learning |
| Sub Title (in English) | |
| Keyword(1) | neural-gas |
| Keyword(2) | place cell |
| Keyword(3) | mobile robot |
| Keyword(4) | navigation |
| Keyword(5) | reinforcement learning |
| 1st Author's Name | Toshio TANAKA |
| 1st Author's Affiliation | National Institute of Advanced Industrial Science and Technology() |
| 2nd Author's Name | Kenji NISHIDA |
| 2nd Author's Affiliation | National Institute of Advanced Industrial Science and Technology |
| 3rd Author's Name | Takio KURITA |
| 3rd Author's Affiliation | National Institute of Advanced Industrial Science and Technology |
| Date | 2002/7/19 |
| Paper # | NC2002-41 |
| Volume (vol) | vol.102 |
| Number (no) | 253 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |