Download or read book A Modular Neural Network Approach to Autonomous Navigation written by Ian Lane Davis and published by . This book was released on 1996 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "In this thesis we present both a novel neural network paradigm and an approach for solving sensing and control tasks for mobile robots using this neural network paradigm. Real world tasks have driven the evolution of this methodology and its components, and we apply our methodology successfully to two robotics applications. We conclude that for some tasks, our novel modular neural network approach can achieve comparable or better performance than a traditional monolithic neural network in a much reduced training time. We present the MAMMOTH (Modular Architecture Multi-Modality Theory) neural network paradigm, which is both an architectural blueprint and a training system for combining the internal representations of multiple neural networks each of which is trained to recognize different kinds of features. The modules in a MAMMOTH system are designed to provide functional decomposition of a task. That is, each module performs part of the task for a given input, and the higher levels of the MAMMOTH network combine the results to get a solution; this is different from many modular neural network techniques in which the higher level arbitrates between complete answers provided by the modules. We apply MAMMOTH networks to several tasks, which include vision for the alignment of an aircraft inspection robot, on-road navigation, and cross- country navigation. Through these tasks we see the general applicability of MAMMOTH to real world sensing and control tasks. Ultimately, the greatest benefit of MAMMOTH is that for some tasks, low level features can be learned seperately and in parallel, speeding the entire training process for a neural system, without losing any performance."
Download or read book Dynamic Neural Network Approach to Integrated Autonomous Path Planning and Navigation written by James R. Sakalaukus and published by . This book was released on 2010 with total page 146 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Artificial Intelligence Research and Development written by Monique Polit and published by IOS Press. This book was released on 2006 with total page 330 pages. Available in PDF, EPUB and Kindle. Book excerpt: The field covered by Artificial Intelligence (AI) is multiform and gathers subjects as various as the engineering of knowledge, the automatic treatment of the language, the training and the systems multiagents, and more. This book focuses on subjects including Machine Learning, Reasoning, Neural Networks, Computer Vision, and Multiagent Systems.
Download or read book Neural Network Perception for Mobile Robot Guidance written by Dean A. Pomerleau and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 199 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dean Pomerleau's trainable road tracker, ALVINN, is arguably the world's most famous neural net application. It currently holds the world's record for distance traveled by an autonomous robot without interruption: 21.2 miles along a highway, in traffic, at speedsofup to 55 miles per hour. Pomerleau's work has received worldwide attention, including articles in Business Week (March 2, 1992), Discover (July, 1992), and German and Japanese science magazines. It has been featured in two PBS series, "The Machine That Changed the World" and "By the Year 2000," and appeared in news segments on CNN, the Canadian news and entertainment program "Live It Up", and the Danish science program "Chaos". What makes ALVINN especially appealing is that it does not merely drive - it learns to drive, by watching a human driver for roughly five minutes. The training inputstothe neural networkare a video imageoftheroad ahead and thecurrentposition of the steering wheel. ALVINN has learned to drive on single lane, multi-lane, and unpaved roads. It rapidly adapts to other sensors: it learned to drive at night using laser reflectance imaging, and by using a laser rangefinder it learned to swerve to avoid obstacles and maintain a fixed distance from a row of parked cars. It has even learned to drive backwards.
Download or read book New Classification Method Based on Modular Neural Networks with the LVQ Algorithm and Type 2 Fuzzy Logic written by Jonathan Amezcua and published by Springer. This book was released on 2018-02-05 with total page 78 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book a new model for data classification was developed. This new model is based on the competitive neural network Learning Vector Quantization (LVQ) and type-2 fuzzy logic. This computational model consists of the hybridization of the aforementioned techniques, using a fuzzy logic system within the competitive layer of the LVQ network to determine the shortest distance between a centroid and an input vector. This new model is based on a modular LVQ architecture to further improve its performance on complex classification problems. It also implements a data-similarity process for preprocessing the datasets, in order to build dynamic architectures, having the classes with the highest degree of similarity in different modules. Some architectures were developed in order to work mainly with two datasets, an arrhythmia dataset (using ECG signals) for classifying 15 different types of arrhythmias, and a satellite images segments dataset used for classifying six different types of soil. Both datasets show interesting features that makes them interesting for testing new classification methods.
Download or read book Handbook of Neural Computing Applications written by Alianna J. Maren and published by Academic Press. This book was released on 2014-05-10 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: Handbook of Neural Computing Applications is a collection of articles that deals with neural networks. Some papers review the biology of neural networks, their type and function (structure, dynamics, and learning) and compare a back-propagating perceptron with a Boltzmann machine, or a Hopfield network with a Brain-State-in-a-Box network. Other papers deal with specific neural network types, and also on selecting, configuring, and implementing neural networks. Other papers address specific applications including neurocontrol for the benefit of control engineers and for neural networks researchers. Other applications involve signal processing, spatio-temporal pattern recognition, medical diagnoses, fault diagnoses, robotics, business, data communications, data compression, and adaptive man-machine systems. One paper describes data compression and dimensionality reduction methods that have characteristics, such as high compression ratios to facilitate data storage, strong discrimination of novel data from baseline, rapid operation for software and hardware, as well as the ability to recognized loss of data during compression or reconstruction. The collection can prove helpful for programmers, computer engineers, computer technicians, and computer instructors dealing with many aspects of computers related to programming, hardware interface, networking, engineering or design.
Download or read book Intelligent Unmanned Ground Vehicles written by Martial H. Hebert and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 315 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intelligent Unmanned Ground Vehicles describes the technology developed and the results obtained by the Carnegie Mellon Robotics Institute in the course of the DARPA Unmanned Ground Vehicle (UGV) project. The goal of this work was to equip off-road vehicles with computer-controlled, unmanned driving capabilities. The book describes contributions in the area of mobility for UGVs including: tools for assembling complex autonomous mobility systems; on-road and off-road navigation; sensing techniques; and route planning algorithms. In addition to basic mobility technology, the book covers a number of integrated systems demonstrated in the field in realistic scenarios. The approaches presented in this book can be applied to a wide range of mobile robotics applications, from automated passenger cars to planetary exploration, and construction and agricultural machines. Intelligent Unmanned Ground Vehicles shows the progress that was achieved during this program, from brittle specially-built robots operating under highly constrained conditions, to groups of modified commercial vehicles operating in tough environments. One measure of progress is how much of this technology is being used in other applications. For example, much of the work in road-following, architectures and obstacle detection has been the basis for the Automated Highway Systems (AHS) prototypes currently under development. AHS will lead to commercial prototypes within a few years. The cross-country technology is also being used in the development of planetary rovers with a projected launch date within a few years. The architectural tools built under this program have been used in numerous applications, from an automated harvester to an autonomous excavator. The results reported in this work provide tools for further research development leading to practical, reliable and economical mobile robots.
Download or read book Autonomous Navigation in Dynamic Environments written by Christian Laugier and published by Springer. This book was released on 2007-10-14 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a foundation for a broad class of mobile robot mapping and navigation methodologies for indoor, outdoor, and exploratory missions. It addresses the challenging problem of autonomous navigation in dynamic environments, presenting new ideas and approaches in this emerging technical domain. Coverage discusses in detail various related challenging technical aspects and addresses upcoming technologies in this field.
Download or read book Autonomous Navigation in Unknown Environments Using Machine Learning written by Charles Andrew Richter and published by . This book was released on 2017 with total page 175 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, we explore the problem of high-speed autonomous navigation for a dynamic mobile robot in unknown environments. Our objective is to navigate from start to goal in minimum time, given no prior knowledge of the map, nor any explicit knowledge of the environment distribution. Faced with this challenge, most practical receding-horizon navigation methods simply restrict their action choices to the known portions of the map, and ignore the effects that future observations will have on their map knowledge, sacrificing performance as a result. In this thesis, we overcome these limitations by efficiently extending the robot's reasoning into unknown parts of the environment through supervised learning. We predict key contributors to the navigation cost before the relevant portions of the environment have been observed, using training examples from similar planning scenarios of interest. Our first contribution is to develop a model of collision probability to predict the outcomes of actions that extend beyond the perceptual horizon. We use this collision probability model as a data-driven replacement for conventional safety constraints in a receding-horizon planner, resulting in collision-free navigation at speeds up to twice as fast as conventional planners. We make these predictions using a Bayesian approach, leveraging training data for performance in familiar situations, and automatically reverting to safe prior behavior in novel situations for which our model is untrained. Our second contribution is to develop a model of future measurement utility, efficiently enabling information-gathering behaviors that can extend the robot's visibility far into unknown regions of the environment, thereby lengthening the perceptual horizon, resulting in faster navigation even under conventional safety constraints. Our third contribution is to adapt our collision prediction methods to operate on raw camera images, using deep neural networks. By making predictions directly from images, we take advantage of rich appearance-based information well beyond the range to which dense, accurate environment geometry can be reliably estimated. Pairing this neural network with novelty detection and a self-supervised labeling technique, we show that we can deploy our system initially with no training, and it will continually improve with experience and expand the set of environment types with which it is familiar.
Download or read book Proceedings of the Winter 1990 International Joint Conference on Neural Networks written by Maureen Caudill and published by Taylor & Francis. This book was released on 2022-03-10 with total page 1588 pages. Available in PDF, EPUB and Kindle. Book excerpt: This two volume set provides the complete proceedings of the 1990 International Joint Conference on Neural Networks held in Washington, D.C. Complete with subject, author, and title indices, it provides an invaluable reference to the current state-of-the-art in neural networks. Included in this volume are the latest research results, applications, and products from over 2,000 researchers and application developers from around the world. Ideal as a reference for researchers and practitioners of neuroscience, the two volumes are divided into eight sections: * Neural and Cognitive Sciences * Pattern Recognition and Analysis of Network Dynamics * Learning Theory * Plenary Lecture by Bernard Widrow * Special Lectures on Self-Organizing Neural Architectures * Application Systems and Network Implementations * Robotics, Speech, Signal Processing, and Vision * Expert Systems and Other Real-World Applications
Download or read book Artificial Neural Networks ICANN 2007 written by Joaquim Marques de Sá and published by Springer. This book was released on 2007-09-14 with total page 1010 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the second of a two-volume set that constitutes the refereed proceedings of the 17th International Conference on Artificial Neural Networks, ICANN 2007. It features contributions related to computational neuroscience, neurocognitive studies, applications in biomedicine and bioinformatics, pattern recognition, self-organization, text mining and internet applications, signal and times series processing, vision and image processing, robotics, control, and more.
Download or read book Intelligent Autonomous Systems 12 written by Sukhan Lee and published by Springer Science & Business Media. This book was released on 2012-11-02 with total page 861 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of “Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security and space applications, and intelligent autonomous systems for manufacturing and healthcare. This volume 1 includes contributions devoted to Autonomous Ground Vehicles and Mobile Manipulators, as well as Unmanned Aerial and Underwater Vehicles and Bio-inspired Robotics.
Download or read book New Development in Robot Vision written by Yu Sun and published by Springer. This book was released on 2014-09-26 with total page 209 pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of robotic vision has advanced dramatically recently with the development of new range sensors. Tremendous progress has been made resulting in significant impact on areas such as robotic navigation, scene/environment understanding, and visual learning. This edited book provides a solid and diversified reference source for some of the most recent important advancements in the field of robotic vision. The book starts with articles that describe new techniques to understand scenes from 2D/3D data such as estimation of planar structures, recognition of multiple objects in the scene using different kinds of features as well as their spatial and semantic relationships, generation of 3D object models, approach to recognize partially occluded objects, etc. Novel techniques are introduced to improve 3D perception accuracy with other sensors such as a gyroscope, positioning accuracy with a visual servoing based alignment strategy for microassembly, and increasing object recognition reliability using related manipulation motion models. For autonomous robot navigation, different vision-based localization and tracking strategies and algorithms are discussed. New approaches using probabilistic analysis for robot navigation, online learning of vision-based robot control, and 3D motion estimation via intensity differences from a monocular camera are described. This collection will be beneficial to graduate students, researchers, and professionals working in the area of robotic vision.
Download or read book A Generalized Neural Network Approach to Mobile Robot Navigation and Obstacle Avoidance written by Hamid Dezfoulian and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Sensor Fusion for Autonomous Outdoor Navigation Using Neural Networks written by Carnegie Mellon University. Robotics Institute and published by . This book was released on 1995 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "For many navigation tasks, a single sensing modality is sufficiently rich to accomplish the desired motion control goals; for practical autonomous outdoor navigation, a single sensing modality is a crippling limitation on what tasks can be undertaken. In the research detailed in this paper, we open the door for a whole new suite of real-time autonomous navigation tasks previously unattainable. Using neural networks, including a neural network pardigm particularly well suited to sensor fusion, and Carnegie Mellon's HMMWV (High Mobility Multi-Wheeled Vehicle) off-road military ambulance, we have successfully performed simulated and real-world navigation tasks that required the use of multiple sensing modalities."
Download or read book Web and Wireless Geographical Information Systems written by James D. Carswell and published by Springer. This book was released on 2006-11-15 with total page 279 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 6th International Symposium on Web and Wireless Geographical Information Systems, W2GIS 2006, held in Hong Kong, China in December 2006. The 24 revised full papers cover a wide range of topics from the semantic Web, Web personalization, contextual representation and mapping to querying in mobile environments, mobile networks and recent developments in location-based services and applications.
