A Control Architecture for Mobile Robotics Based on Specialists

Regueiro, Carlos V.; Rodríguez, Maritza Bracho de; Correa, J. L. del Río; Moreno, David; Iglesias, Roberto; Barro, Senén

doi:10.1201/9781420040814.ch10f

Cited by 4 publications

(1 citation statement)

References 16 publications

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“…It has been shown that wall following behaviour is one of the most useful when robots need to move reactively and safely through their environment (Regueiro et al, 2002). One of its advantages is that it only uses local information, and it makes use of the topological structure of the environment.…”

Section: Wall Following Behaviourmentioning

confidence: 99%

Methodology for Learning Visual Reactive Behaviours in Robotics Through Reinforcement and Image-Based States

Quintía¹,

Domenech²,

Gamallo³

et al. 2007

Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics

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This article describes the development of a methodology for the learning of visual and reactive behaviours using reinforcement learning. With the use of artificial vision the environment is perceived in 3D, and it is possible to avoid obstacles that are invisible to other sensors that are more common in mobile robotics. Reinforcement learning reduces the need for intervention in behaviour design, and simplifies its adjustment to the environment, the robot and the task. The designed methodology is intended to be general; thus, in order to change the desired behaviour, only the reinforcement and the filtering of the image need to be changed. For the definition of the reinforcement a laser sensor is used, and for the definition of the states a fixed 3x3 grid is used. The behaviours learned were wall following, object following, corridor following and platform following. Results are presented with a Pioneer 2 AT. A Gazebo 3D simulator was used for the Learning and testing phase, and a test of the wall following behaviour was carried out in a real environment.

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Section: Wall Following Behaviourmentioning

confidence: 99%

Methodology for Learning Visual Reactive Behaviours in Robotics Through Reinforcement and Image-Based States

Quintía¹,

Domenech²,

Gamallo³

et al. 2007

Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics

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Hardware Design of a Binary Integer Decimal-based IEEE P754 Rounding Unit

Tsen

Schulte

González-Navarro

2007

2007 IEEE International Conf. On Application-Specific Systems, Architectures and Processors (ASAP)

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Because of the growing importance of decimal floating-point (DFP) arithmetic, specifications for it were recently added to the draft revision of the IEEE 754 Standard (IEEE P754). In this paper, we present a hardware design for a rounding unit for 64-bit DFP numbers (decimal64) that use the IEEE P754 binary encoding of DFP numbers, which is widely known as the Binary Integer Decimal (BID) encoding. We summarize the technique used for rounding, present the theory and design of the BID rounding unit, and evaluate its critical path delay, latency, and area for combinational and pipelined designs. Over 86% of the rounding unit's area is due to a 55-bit by 54-bit binary multiplier, which can be shared with a double-precision binary floating-point multiplier. To our knowledge, this is the first hardware design for rounding IEEE P754 BID-encoded DFP numbers.

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