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Policy-Based Planning for Robust Robot Navigation

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자료유형	E-Book
개인저자	Goeddel, Robert T.
단체저자명	University of Michigan. Computer Science and Engineering.
서명/저자사항	Policy-Based Planning for Robust Robot Navigation.
발행사항	[S.l.] : University of Michigan., 2018
발행사항	Ann Arbor : ProQuest Dissertations & Theses, 2018
형태사항	117 p.
소장본 주기	School code: 0127.
ISBN	9780438126596
일반주기	Source: Dissertation Abstracts International, Volume: 79-12(E), Section: B. Adviser: Edwin Olson.
요약	This thesis proposes techniques for constructing and implementing an extensible navigation framework suitable for operating alongside or in place of traditional navigation systems. Robot navigation is only possible when many subsystems work in t
요약	Our first contribution is Direction Approximation through Random Trials (DART), a method for generating human-followable navigation instructions optimized for followability instead of traditional metrics such as path length. We show how this str
요약	DART depends on the existence of a set of behaviors and switching conditions describing ways the robot can move through an environment. In the remainder of this thesis, we present methods for learning these behaviors and conditions in indoor env
요약	Additionally, we suggest a subset of behaviors that provide DART with a sufficient set of actions to navigate in most indoor environments and introduce a method to learn these behaviors from teleloperated demonstrations. Our method learns a cost
요약	This work was motivated by the weaknesses and brittleness of many state-of-the-art navigation systems. Reliable navigation is the foundation of any mobile robotic system. It provides access to larger work spaces and enables a wide variety of tas
요약	The work presented in this thesis is intended to augment or replace traditional navigation systems to mitigate concerns about scalability and reliability by considering the effects of navigation failures for particular actions. By considering th
일반주제명	Computer science. Robotics.
언어	영어
기본자료 저록	Dissertation Abstracts International79-12B(E). Dissertation Abstract International
대출바로가기	http://www.riss.kr/pdu/ddodLink.do?id=T15000551