Search this article in Google Scholar


分類 国際会議
著者名 (author) Yukiyoshi Fujita,Satoshi Fujita,Masafumi Yamashita,Ichiro Suzuki,Hajime Asama
英文著者名 (author)
編者名 (editor)
編者名 (英文)
キー (key)
表題 (title) Learning-Based Automatic Generation of Collision Avoidance Algorithms for Multiple Autonomous Mobile Robots
表題 (英文)
書籍・会議録表題 (booktitle) Proc. of 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'98)
書籍・会議録表題(英文)
巻数 (volume)
号数 (number)
ページ範囲 (pages) 1553-1558
組織名 (organization)
出版元 (publisher)
出版元 (英文)
出版社住所 (address)
刊行月 (month) October
出版年 (year) 1998
付加情報 (note) Victoria, Canada
注釈 (annote) DOI: 10.1109/IROS.1998.724819
内容梗概 (abstract) Using a model based on the omni-directional robots developed at the Institute of Physical and Chemical Research (RIKEN), we discuss the possibility of automatically generating a collision avoidance algorithm for autonomous mobile robots. To this end, we show that an effective collision avoidance algorithm for two robots can be generated by a very simple learning algorithm that simulates a naive human trial-and-error learning process, using only the robots' sensor outputs and a suitable reward function, where the exact form of the reward function is also learned autonomously by the robots. We also discuss how a robot can use its “experience” gained in a simple environment to adjust itself to a more complex environment, by automatically generating a collision avoidance algorithm for a three-robot situation utilizing a reduced state space resulting from the learning process for the case of two robots. The results of computer simulation and the experiments conducted at RIKEN using physical robots demonstrate the effectiveness of the collision avoidance algorithms generated and our learning-based approach.
論文電子ファイル Not available.


[1-77]  Yukiyoshi Fujita, Satoshi Fujita, Masafumi Yamashita, Ichiro Suzuki, and Hajime Asama, ``Learning-Based Automatic Generation of Collision Avoidance Algorithms for Multiple Autonomous Mobile Robots,'' In Proc. of 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'98), pp. 1553-1558, October 1998. (Victoria, Canada)

@inproceedings{1_77,
    author = {Yukiyoshi Fujita and Satoshi Fujita and Masafumi Yamashita and
    Ichiro Suzuki and Hajime Asama},
    author_e = {},
    editor = {},
    editor_e = {},
    title = {Learning-Based Automatic Generation of Collision Avoidance
    Algorithms for Multiple Autonomous Mobile Robots},
    title_e = {},
    booktitle = {Proc. of 1998 IEEE/RSJ International Conference on Intelligent
    Robots and Systems (IROS'98)},
    booktitle_e = {},
    volume = {},
    number = {},
    pages = {1553-1558},
    organization = {},
    publisher = {},
    publisher_e = {},
    address = {},
    month = {October},
    year = {1998},
    note = {Victoria, Canada},
    annote = {DOI: 10.1109/IROS.1998.724819 }
}

This site is maintained by Distributed System Laboratory.

PMAN 2.5.5 - Paper MANagement system / (C) 2002-2008, Osamu Mizuno / All rights reserved.