Kagan Tumer's Publications

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Adaptive Navigation for Autonomous Robots. M. Knudson and K. Tumer. Robotics and Autonomous Systems, 59:410–420, 2011.

Abstract

In many robotic exploration missions, robots have to learn specific policies that allow them to: (i) select high level goals (e.g., identify specific destinations), (ii) navigate (reach those destinations), (iii) and adapt to their environment (e.g., modify their behavior based on changing environmental conditions). Furthermore, those policies must be robust to signal noise or unexpected situations, scalable to more complex environments, and account for the physical limitations of the robots (e.g., limited battery power and computational power).

In this paper we evaluate reactive and learning navigation algorithms for exploration robots that must avoid obstacles and reach specific destinations in limited time and with limited observations. Our results show that neuro-evolutionary algorithms with well designed evaluation functions can produce up to 50% better behavior than reactive algorithms in complex domains where the robot goals are to select paths that lead to seek specific destinations while avoiding obstacles, particularly when facing significant sensor and actuator signal noise.

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BibTeX Entry

@article{tumer-Knudson_ras11,
author = {M. Knudson and K. Tumer},
title = {Adaptive Navigation for Autonomous Robots},
journal ={Robotics and Autonomous Systems} 
volume={59},
pages={410-420},
abstract ={In many robotic exploration missions, robots have to learn specific policies that allow them to: (i) select high level goals (e.g., identify specific destinations), (ii) navigate (reach those destinations), (iii) and adapt to their environment (e.g., modify their behavior based on changing environmental conditions).  Furthermore, those policies must be robust to signal noise or unexpected situations, scalable to more complex environments, and account for the physical limitations of the robots (e.g., limited battery power and computational power).
<p>
In this paper we evaluate reactive and learning navigation algorithms for exploration robots that must avoid obstacles and reach specific destinations in limited time and with limited observations.  Our results show that neuro-evolutionary algorithms with well designed evaluation functions can produce up to 50% better behavior than reactive algorithms in complex domains where the robot goals are to select paths that lead to seek specific destinations while avoiding obstacles, particularly when facing significant sensor and actuator signal noise.},
bib2html_pubtype = {Journal Articles},
bib2html_rescat = {Robotics, Evolutionary Algorithms},
 year = {2011}
 }

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