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Policy-Based Planning for Robust Robot Navigation
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| 자료유형 | 학위논문 |
|---|---|
| 서명/저자사항 | Policy-Based Planning for Robust Robot Navigation. |
| 개인저자 | Goeddel, Robert T. |
| 단체저자명 | University of Michigan. Computer Science and Engineering. |
| 발행사항 | [S.l.]: University of Michigan., 2018. |
| 발행사항 | Ann Arbor: ProQuest Dissertations & Theses, 2018. |
| 형태사항 | 117 p. |
| 기본자료 저록 | Dissertation Abstracts International 79-12B(E). Dissertation Abstract International |
| ISBN | 9780438126596 |
| 학위논문주기 | Thesis (Ph.D.)--University of Michigan, 2018. |
| 일반주기 |
Source: Dissertation Abstracts International, Volume: 79-12(E), Section: B.
Adviser: Edwin Olson. |
| 요약 | This thesis proposes techniques for constructing and implementing an extensible navigation framework suitable for operating alongside or in place of traditional navigation systems. Robot navigation is only possible when many subsystems work in t |
| 요약 | Our first contribution is Direction Approximation through Random Trials (DART), a method for generating human-followable navigation instructions optimized for followability instead of traditional metrics such as path length. We show how this str |
| 요약 | DART depends on the existence of a set of behaviors and switching conditions describing ways the robot can move through an environment. In the remainder of this thesis, we present methods for learning these behaviors and conditions in indoor env |
| 요약 | Additionally, we suggest a subset of behaviors that provide DART with a sufficient set of actions to navigate in most indoor environments and introduce a method to learn these behaviors from teleloperated demonstrations. Our method learns a cost |
| 요약 | This work was motivated by the weaknesses and brittleness of many state-of-the-art navigation systems. Reliable navigation is the foundation of any mobile robotic system. It provides access to larger work spaces and enables a wide variety of tas |
| 요약 | The work presented in this thesis is intended to augment or replace traditional navigation systems to mitigate concerns about scalability and reliability by considering the effects of navigation failures for particular actions. By considering th |
| 일반주제명 | Computer science. Robotics. |
| 언어 | 영어 |
| 바로가기 | 
: 이 자료의 원문은 한국교육학술정보원에서 제공합니다. |
