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Model identification and model analysis in robot training

Inglesias, R., Nehmzow, U. and Billings, S.A. (2008) Model identification and model analysis in robot training. Research Report. ACSE Research Report no. 966 . Automatic Control and Systems Engineering, University of Sheffield

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Abstract

Robot training is a fast and efficient method of obtaining robot control code. Many current machine learning paradigms used for this purpose, however, result in opaque models that are difficult, if not impossible to analyse, which is an impediment in safety-critical applications or application scenarios where humans and robots occupy the same workspace. In experiments with a Magellan Pro mobile robot we demonstrate that it is possible to obtain transparent models of sensor-motor couplings that are amenable to subsequent analysis, and how such analysis can be used to refine and tune the models post hoc.

Item Type: Monograph (Research Report)
Copyright, Publisher and Additional Information: The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances.
Academic Units: The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) > ACSE Research Reports
Depositing User: Miss Anthea Tucker
Date Deposited: 12 Oct 2012 13:18
Last Modified: 08 Feb 2013 17:40
Status: Published
Publisher: Automatic Control and Systems Engineering, University of Sheffield
URI: http://eprints.whiterose.ac.uk/id/eprint/74623

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