Learning Motion from Demonstration for Differential Drive Mobile Robot
Abstract
In this paper, we present new Learning from Demonstration ((LfD) - based algorithm that generalizes and extracts relevant features of desired motion trajectories for differential drive mobile robots. The algorithm is tested through series of simulations and real world experiments in which desired task is demonstrated by the human teacher while teleoperating the mobile robot in the working environment. The human teacher shows the specifics of the new skill or motion behavior that robot needs to learn; the robot extracts information from demonstrations and builds the internal model based on the learning algorithm and in this paper we will refer to it as the Learning from Demonstration.
Keywords:
Learning from Demonstration ((LfD) / Differential drive mobile robots / The human teacher / Teleoperating the mobile robot in the working environment / The internal model based on the learning algorithmSource:
Proceedings of the 5th International Conference on Manufacturing Engineering (ICMEN 2014), 2014, 99-108Publisher:
- The Aristotle University of Thessaloniki
Funding / projects:
- An innovative ecologically based approach to implementation of intelligent manufacturing systems for production of sheet metal parts (RS-MESTD-Technological Development (TD or TR)-35004)
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Vuković, Najdan AU - Mitić, Marko AU - Miljković, Zoran PY - 2014 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4633 AB - In this paper, we present new Learning from Demonstration ((LfD) - based algorithm that generalizes and extracts relevant features of desired motion trajectories for differential drive mobile robots. The algorithm is tested through series of simulations and real world experiments in which desired task is demonstrated by the human teacher while teleoperating the mobile robot in the working environment. The human teacher shows the specifics of the new skill or motion behavior that robot needs to learn; the robot extracts information from demonstrations and builds the internal model based on the learning algorithm and in this paper we will refer to it as the Learning from Demonstration. PB - The Aristotle University of Thessaloniki C3 - Proceedings of the 5th International Conference on Manufacturing Engineering (ICMEN 2014) T1 - Learning Motion from Demonstration for Differential Drive Mobile Robot EP - 108 SP - 99 UR - https://hdl.handle.net/21.15107/rcub_machinery_4633 ER -
@conference{ author = "Vuković, Najdan and Mitić, Marko and Miljković, Zoran", year = "2014", abstract = "In this paper, we present new Learning from Demonstration ((LfD) - based algorithm that generalizes and extracts relevant features of desired motion trajectories for differential drive mobile robots. The algorithm is tested through series of simulations and real world experiments in which desired task is demonstrated by the human teacher while teleoperating the mobile robot in the working environment. The human teacher shows the specifics of the new skill or motion behavior that robot needs to learn; the robot extracts information from demonstrations and builds the internal model based on the learning algorithm and in this paper we will refer to it as the Learning from Demonstration.", publisher = "The Aristotle University of Thessaloniki", journal = "Proceedings of the 5th International Conference on Manufacturing Engineering (ICMEN 2014)", title = "Learning Motion from Demonstration for Differential Drive Mobile Robot", pages = "108-99", url = "https://hdl.handle.net/21.15107/rcub_machinery_4633" }
Vuković, N., Mitić, M.,& Miljković, Z.. (2014). Learning Motion from Demonstration for Differential Drive Mobile Robot. in Proceedings of the 5th International Conference on Manufacturing Engineering (ICMEN 2014) The Aristotle University of Thessaloniki., 99-108. https://hdl.handle.net/21.15107/rcub_machinery_4633
Vuković N, Mitić M, Miljković Z. Learning Motion from Demonstration for Differential Drive Mobile Robot. in Proceedings of the 5th International Conference on Manufacturing Engineering (ICMEN 2014). 2014;:99-108. https://hdl.handle.net/21.15107/rcub_machinery_4633 .
Vuković, Najdan, Mitić, Marko, Miljković, Zoran, "Learning Motion from Demonstration for Differential Drive Mobile Robot" in Proceedings of the 5th International Conference on Manufacturing Engineering (ICMEN 2014) (2014):99-108, https://hdl.handle.net/21.15107/rcub_machinery_4633 .