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Event Detection and Localization in Mobile Robot Navigation Using Reservoir Computing

Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4669)

Abstract

Reservoir Computing (RC) uses a randomly created recurrent neural network where only a linear readout layer is trained. In this work, RC is used for detecting complex events in autonomous robot navigation. This can be extended to robot localization based solely on sensory information. The robot thus builds an implicit map of the environment without the use of odometry data. These techniques are demonstrated in simulation on several complex and even dynamic environments.

Keywords

Event Detection Recurrent Neural Network Robot Navigation Robot Localization Occupancy Grid 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  1. 1.Electronics and Information Systems Department, Ghent UniversityBelgium
  2. 2.Department of Mechanical Engineering - Katholic University of LeuvenBelgium

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