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Authors: Mikhail Frank 1 ; Alexander Förster 1 and Jürgen Schmidhuber 2

Affiliations: 1 Dalle Molle Institute for Artificial Intelligence (IDSIA), Università della Svizzera Italiana and Scuola Universitaria Professionale della Svizzera Italiana della Svizzera italiana, Switzerland ; 2 Dalle Molle Institute for Artificial Intelligence (IDSIA), Università della Svizzera Italiana and Scuola Universitaria Professionale della Svizzera Italiana, Switzerland

Keyword(s): Roadmap planning, Reinforcement learning, Collision avoidance, Robotics framework.

Abstract: Prevalent approaches to motion synthesis for complex robots offer either the ability to build up knowledge of feasible actions through exploration, or the ability to react to a changing environment, but not both. This work proposes a simple integration of roadmap planning with reflexive collision response, which allows the roadmap representation to be transformed into a Markov Decision Process. Consequently, roadmap planning is extended to changing environments, and the adaptation of the map can be phrased as a reinforcement learning problem. An implementation of the reflexive collision response is provided, such that the reinforcement learning problem can be studied in an applied setting. The feasibility of the software is analyzed in terms of runtime performance, and its functionality is demonstrated on the iCub humanoid robot.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Frank, M.; Förster, A. and Schmidhuber, J. (2012). REFLEXIVE COLLISION RESPONSE WITH VIRTUAL SKIN - Roadmap Planning Meets Reinforcement Learning. In Proceedings of the 4th International Conference on Agents and Artificial Intelligence (ICAART 2012) - Volume 2: SSIR; ISBN 978-989-8425-95-9; ISSN 2184-433X, SciTePress, pages 642-651. DOI: 10.5220/0003883206420651

@conference{ssir12,
author={Mikhail Frank. and Alexander Förster. and Jürgen Schmidhuber.},
title={REFLEXIVE COLLISION RESPONSE WITH VIRTUAL SKIN - Roadmap Planning Meets Reinforcement Learning},
booktitle={Proceedings of the 4th International Conference on Agents and Artificial Intelligence (ICAART 2012) - Volume 2: SSIR},
year={2012},
pages={642-651},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003883206420651},
isbn={978-989-8425-95-9},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 4th International Conference on Agents and Artificial Intelligence (ICAART 2012) - Volume 2: SSIR
TI - REFLEXIVE COLLISION RESPONSE WITH VIRTUAL SKIN - Roadmap Planning Meets Reinforcement Learning
SN - 978-989-8425-95-9
IS - 2184-433X
AU - Frank, M.
AU - Förster, A.
AU - Schmidhuber, J.
PY - 2012
SP - 642
EP - 651
DO - 10.5220/0003883206420651
PB - SciTePress

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