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Safe Robot Learning by Energy Limitation

Safe Robot Learning by Energy Limitation

Kategori
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Sammendrag
Online robot learning has been a goal for researchers for several decades. A problem arises when learning algorithms need to explore the environment as actions cannot easily be anticipated. Because of this, safety is a major issue when using learning algorithms.

This paper presents a framework for safe robot learning by the use of region-classification and energy limitation. The main task of the framework is to ensure safety regardless of a learning algorithm’s input to a system. This is necessary to allow a learning robot to explore environments without damaging itself or its surroundings. To ensure safety, the state-space is divided into fatal, supercritical, critical and safe regions, depending on the energy of the system.

To show the adaptability of the framework it is used on two different systems; an actuated swinging pendulum and a mobile platform. In both cases obstacles with unknown locations must are avoided successfully.
Språk
Engelsk
Forfatter(e)
  • Sigurd Mørkved Albrektsen
  • Sigurd Aksnes Fjerdingen
Institusjon(er)
  • SINTEF Digital / Mathematics and Cybernetics
År
Forlag
Springer
Bok
Intelligent Robotics and Applications : 5th International Conference, ICIRA 2012, Montreal, QC, Canada, October 3-5, 2012, Proceedings, Part III
Hefte nr.
7508
ISBN
978-3-642-33502-0
Side(r)
216 - 225