Spatio-Temporal Case-Based Reasoning for Behavioral Selection - Robotics Institute Carnegie Mellon University

Spatio-Temporal Case-Based Reasoning for Behavioral Selection

Maxim Likhachev and Ronald C. Arkin
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1627 - 1634, May, 2001

Abstract

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.

BibTeX

@conference{Likhachev-2001-109745,
author = {Maxim Likhachev and Ronald C. Arkin},
title = {Spatio-Temporal Case-Based Reasoning for Behavioral Selection},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2001},
month = {May},
volume = {2},
pages = {1627 - 1634},
}
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