[en] Reservoir Computing (RC) uses a randomly created recur- rent neural network where only a linear readout layer is trained. In this work, RC is used for detecting complex events in autonomous robot navi- gation. 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.
Disciplines :
Sciences informatiques
Auteur, co-auteur :
ANTONELO, Eric Aislan ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Schrauwen, Benjamin
Dutoit, Xavier
Stroobandt, Dirk
Nuttin, Marnix
Co-auteurs externes :
yes
Langue du document :
Anglais
Titre :
Event detection and localization in mobile robot navigation using reservoir computing
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