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.
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Antonelo, E.A., Schrauwen, B., Dutoit, X., Stroobandt, D., Nuttin, M. (2007). Event Detection and Localization in Mobile Robot Navigation Using Reservoir Computing. In: de Sá, J.M., Alexandre, L.A., Duch, W., Mandic, D. (eds) Artificial Neural Networks – ICANN 2007. ICANN 2007. Lecture Notes in Computer Science, vol 4669. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74695-9_68
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DOI: https://doi.org/10.1007/978-3-540-74695-9_68
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