Title :
Solving navigation tasks with learned Teleo-Reactive Programs
Author :
Vargas, Blanca ; Morales, Eduardo F.
Author_Institution :
Dept. of Comput. Sci., Nat. Inst. of Astrophys., Puebla
Abstract :
Programming a robot to perform tasks in dynamic environments is a complex process. Teleo-reactive programs (TRPs) (S. Benson and N.J. Nilsson, 1995) have proved to be an effective framework to continuously perform a set of actions to achieve particular goals and react in the presence of unexpected events, however, their definition is a difficult and time-consuming process. In this paper, it is shown how a robot can learn TRPs from human guided traces. A user guides a robot to perform a task and the robot learns how to perform such task in similar dynamic environments.
Keywords :
mobile robots; navigation; robot programming; dynamic environments; navigation tasks; robot programming; teleo-reactive programs; Adaptation model; Humans; Navigation; Robot sensing systems; Robots; Sonar navigation; Transforms;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4651240
