SENSORY-MOTOR CONTROL Sample Clauses

SENSORY-MOTOR CONTROL. Autonomous navigation of a mobile robot, equipped with onboard sensor(s) to perceive external world (sonars, laser telemeters, cameras), has been widely studied in robotics. There exist two main approached to autonomous navigation: (a) reactive navigation where the robot uses only its current perception to move and explore while avoiding collisions ([S1], [S2]); and (b) servo-ed navigation where the robot is given a pre-planned reference trajectory and uses some closed-loop control law to follow it [S7], [S6]. Servoed navigation approaches, can be further classified into state-space tracking [S5], [S4], and perception-space tracking [S8], [S3]. State-space tracking has two main requirements: first the reference trajectory must be described in the state space, and second, the robot must also be able to localize in the state space. Conversely, in perception-space tracking, the trajectory is defined with respect to local perception only, hence avoiding the need for global localization. A particular application of perception tracking is visual servoing, classically implemented as the convergence of observed image to a fixed reference image. Given that significant work already exists for state-space tracking, in the context of the NOPTILUS project, we are particularly interested in perceptual tracking which is necessary when the AUVs navigate in parts of the environment where absolute positioning information is unavailable or very poor. For this challenging scenario, we consider the case where: i) a reference trajectory is defined as a sequence of observations perceived by an onboard sensor (sonar and/or video) along the robot’s motion direction; and ii) no localization system is available to perform position tracking. This situation is interesting for at least three reasons: i) since trajectory is not geo-referenced, we do not need to deal with the complex task of global localization; ii) this form of trajectory can be naturally and easily learned from examples; and iii) such an approach has a biological motivation as it is similar to mechanisms that animals use for memorizing and representing paths. In the context of NOPTILUS, we seek to endow AUVs with the ability to follow any sensory-motor trajectory, as long as the robot starts in its neighborhood. We divide this objective in three tasks:  Initialization: Given a sensory-motor trajectory Tsm, and an observation O, what is the ro- bot temporal position τ(0)? In other words, to the AUV must find the τ(0) i...
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