Integrated planning and control of robot motion tasks. Enhanced
reactive capabilities. Perform
complex robot motion tasks.
Indirect-Mapping EKM
Use
Extended Kohonen Map (EKM) to map input sensory space indirectly
to ouptut motor control
space.
Cooperative EKMs
EKMs
for target localization, obstacle localization, robot kin localization,
motor control.
Online Self-organization of EKMs
EKMs
self-organize to map sensory inputs to motor outputs.
Result of self-organization:
Negotiating static
obstacle
Negotiating moving
obstacle
Motion in a changing
environment
Motion in a complex environment
Motion in a complex environment
Cooperative tracking of targets
A/Prof. Leow Wee Kheng,
Dept. of Computer Science, National University of Singapore. A/Prof.
Marcelo Ang, Dept. of Mechanical Engineering, National University of Singapore.
Mr. Bryan Low Kian Hsiang
(M.Sc.),
Dept. of Computer Science, National University of Singapore.
K. H. Low, W. K. Leow, and M. H. Ang, Jr. Action selection for single- and
multi-robot tasks usingcooperative extended Kohonen maps. In Proc. Int. Joint Conf on Artificial Intelligence, 2003,
p. 1505-1506.
K. H. Low, W. K. Leow, and M. H. Ang, Jr. Enhancing the reactive capabilities
of integrated planningand control with cooperative extended Kohonen maps. In Proc. IEEE Int. Conf. on Robotics and
Automation, 2003, p. 3428-3433.
K. H. Low, W. K. Leow, and M. H. Ang, Jr. Action selection in continuous
state and action spaces bycooperation and competition of extended Kohonen maps. In Proc. Int. Joint Conf. on Autonomous
Agent & Multi Agent Systems, 2003, p. 1056-1057.
K.
H. Low, W. K. Leow, and M. H. Ang, Jr. A hybrid mobile robot architecture
with integrated planningand control. In Proc. Int. Joint Conf. on Autonomous Agent & Multi Agent Systems, 2002, p. 219-226.
K.
H. Low, W. K. Leow, and M. H. Ang, Jr. Integrated planning and control of
mobile robot with self-organizing neural network. In Proc. IEEE Int. Conf. on Robotics and Automation, 2002, p. 3870-3875.
