Spatio-temporal case-based reasoning for behavioral selection

Presents the application of a case-based reasoning approach to the selection and modification of behavioral assemblage parameters. The goal of this research is to achieve an optimal parameterization of robotic behaviors in run-time. This increases robot performance and makes a manual configuration of parameters unnecessary. The case-based reasoning module selects a set of parameters for an active behavioral assemblage in real-time. This set of parameters fits the environment better than hand-coded ones, and its performance is monitored providing feedback for a possible reselection of the parameters. The paper places a significant emphasis on the technical details of the case-based reasoning module and how it is integrated within a schema-based reactive navigation system. The paper also presents the results and evaluation of the system in both in simulation and real world robotic experiments.

[1]  Kay Schröter,et al.  AT Humboldt in RoboCup-98 (Team description) , 1998, RoboCup.

[2]  Tucker R. Balch,et al.  AuRA: principles and practice in review , 1997, J. Exp. Theor. Artif. Intell..

[3]  Seth Hutchinson,et al.  A case-based approach to robot motion planning , 1992, [Proceedings] 1992 IEEE International Conference on Systems, Man, and Cybernetics.

[4]  Pat Langley,et al.  Case-Based Acquisition of Place Knowledge , 1995, ICML.

[5]  John Hallam,et al.  A Learning Mobile Robot: Theory, Simulation and Practice , 1997, EWLR.

[6]  Ashwin Ram,et al.  A Multistrategy Case-Based and Reinforcement Learning Approach to Self-Improving Reactive Control Systems for Autonomous Robotic Navigation , 1993 .

[7]  K. Ganesan,et al.  Case-based path planning for autonomous underwater vehicles , 1994, Auton. Robots.

[8]  Ronald C. Arkin,et al.  Multiagent Mission Specification and Execution , 1997, Auton. Robots.

[9]  Ronald C. Arkin,et al.  Motor Schema — Based Mobile Robot Navigation , 1989, Int. J. Robotics Res..

[10]  Bertil Svensson,et al.  A Low-Risk Approach to Mobile Robot Path Planning , 1998, IEA/AIE.

[11]  Janet L. Kolodner,et al.  Case-Based Reasoning , 1989, IJCAI 1989.

[12]  Russell J. Clark,et al.  Case-based reactive navigation: a method for on-line selection and adaptation of reactive robotic control parameters , 1997, IEEE Trans. Syst. Man Cybern. Part B.

[13]  C. Vasudevan,et al.  Case-based path planning for autonomous underwater vehicles , 1994, Proceedings of 1994 9th IEEE International Symposium on Intelligent Control.