講演名 | 2008-03-13 Graph-based Maps Formation for Mobile Robots by Hidden Markov Models , |
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抄録(和) | |
抄録(英) | 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. |
キーワード(和) | |
キーワード(英) | Hidden Markov Model / Graph-based Map / mnSOM / k-means / mobile robot |
資料番号 | NC2007-164 |
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研究会情報 | |
研究会 | NC |
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開催期間 | 2008/3/5(から1日開催) |
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講演論文情報詳細 | |
申込み研究会 | Neurocomputing (NC) |
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本文の言語 | ENG |
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タイトル(英) | Graph-based Maps Formation for Mobile Robots by Hidden Markov Models |
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キーワード(1)(和/英) | / Hidden Markov Model |
第 1 著者 氏名(和/英) | / Muhammad Aziz Muslim |
第 1 著者 所属(和/英) | Department of Brain Science and Engineering, Kyushu Institute of Technology |
発表年月日 | 2008-03-13 |
資料番号 | NC2007-164 |
巻番号(vol) | vol.107 |
号番号(no) | 542 |
ページ範囲 | pp.- |
ページ数 | 6 |
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