Artikel in Tagungsband INPROC-2005-20

Bibliograph.
Daten
Oubbati, Mohamed; Levi, Paul; Schanz, Michael: A Fixed-Weight RNN Dynamic Controller for Multiple Mobile Robots.
In: Proceedings of the 24th IASTED International Conference on MODELLING, IDENTIFICATION, AND CONTROL: MIC 2005; Innsbruck, Austria, February 16-18, 2005..
Universität Stuttgart, Fakultät Informatik, Elektrotechnik und Informationstechnik.
S. 277-282, englisch.
Austria: ACTA Press, Februar 2005.
Artikel in Tagungsband (Konferenz-Beitrag).
KörperschaftIASTED
CR-Klassif.I.2.9 (Robotics)
KeywordsMobile Robot; Recurrent Neural Networks, Meta-Learning; Adaptive Control
Kurzfassung

In this paper, we demonstrate the ability of a single fixed-weight RNN to act as a dynamic controller for several (here 3) distinct wheeled mobile robots, without exact knowledge about their dynamics parameters. The controller is properly trained to exhibit adaptive behaviour after its weights have been fixed. This capability is a natural consequence of prior meta-learning used recently in the area of RNNs.

KontaktMohamed.Oubbati@informatik.uni-stuttgart.de
Abteilung(en)Universität Stuttgart, Institut für Parallele und Verteilte Systeme, Bildverstehen
Projekt(e)COPS
SFB-627
Eingabedatum11. März 2005
   Publ. Institut   Publ. Informatik