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Visual task identification and characterisation using polynomial models

Akanyeti, O., Kyriacou, T., Nehmzow, U., Iglesias, R. and Billings, S.A. (2006) Visual task identification and characterisation using polynomial models. Research Report. ACSE Research Report no. 946 . Automatic Control and Systems Engineering, University of Sheffield

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Abstract

Developing robust and reliable control code for autonomous mobile robots is difficult, because the interaction between a physical robot and the environment is highly complex, subject to noise and variation, and therefore partly unpredictable. This means that to date it is not possible to predict robot behaviour based on theoretical models. Instead, current methods to develop robot control code still require a substantial trial-and-error component to the software design process. This paper proposes a method of dealing with these issues by a) establishing task-achieving sensor-motor couplings through robot training, and b) representing these couplings through transparent mathematical functions that can be used to form hypotheses and theoretical analyses of robot behaviour. We demonstrate the viability of this approach by teaching a mobile robot to track a moving football and subsequently modelling this task using the NARMAX system identification technique.

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.
Institution: The University of Sheffield
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: 18 Oct 2012 10:18
Last Modified: 18 Oct 2012 10:29
Status: Published
Publisher: Automatic Control and Systems Engineering, University of Sheffield
URI: http://eprints.whiterose.ac.uk/id/eprint/74677

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