| Presentation | 2008-03-13 Graph-based Maps Formation for Mobile Robots by Hidden Markov Models Muhammad Aziz Muslim, Masumi ISHIKAWA, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | The present paper proposes a probabilistic approach to recognizing the environment of a mobile robot and to generate a graph-based map based on the estimation of Hidden Markov Models (HMMs). This is because recognition of the environment based on a short interval of data is not enough when sensory signals are corrupted by noise. Graph-based maps are effective in decreasing the computational cost. Two methods for constructing graph-based maps are proposed. The former is to estimate HMMs based on quantized sensory-motor signals. The latter is to estimate HMMs based on a sequence of labels obtained by modular network SOM (mnSOM). The resulting sequence of HMMs can be converted into a graph-based map in a straightforward way. Simulation results demonstrate that the proposed method is able to construct graph-based maps effectively, and to perform goal seeking efficiently. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Hidden Markov Model / Graph-based Map / mnSOM / k-means / mobile robot |
| Paper # | NC2007-164 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2008/3/5(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 | ENG |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Graph-based Maps Formation for Mobile Robots by Hidden Markov Models |
| Sub Title (in English) | |
| Keyword(1) | Hidden Markov Model |
| Keyword(2) | Graph-based Map |
| Keyword(3) | mnSOM |
| Keyword(4) | k-means |
| Keyword(5) | mobile robot |
| 1st Author's Name | Muhammad Aziz Muslim |
| 1st Author's Affiliation | Department of Brain Science and Engineering, Kyushu Institute of Technology() |
| 2nd Author's Name | Masumi ISHIKAWA |
| 2nd Author's Affiliation | Department of Brain Science and Engineering, Kyushu Institute of Technology |
| Date | 2008-03-13 |
| Paper # | NC2007-164 |
| Volume (vol) | vol.107 |
| Number (no) | 542 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |