Implementation of a CNN-based perceptual framework on a roving robot

Arena, P.; De Fiore, S.; Fortuna, L.; Lombardo, D.; Patane, L.

doi:10.1109/ISCAS.2008.4541736

In this paper a recently introduced and well promising methodology for robot perception is applied to autonomously learn robot navigation in an unstructured environment. Perception is here considered as the spontaneous, environmentally mediated, emergence of Turing patterns in CNNs as perceptual states. They, plastically associated to suitable actions, lead the robot to solve autonomously its task. Following this concept, robot behavior (in this case navigation) is reflected, in a virtual navigation through the different basins of attraction of the generated patterns, within the robot control neural network. The whole architecture was implemented in an FPGA-based hardware embedded on a roving robot. In the manuscript the perceptual architecture together with experimental results on a roving robot, will be reported. ©2008 IEEE.

Titolo:	Implementation of a CNN-based perceptual framework on a roving robot
Autori:	Arena P. De Fiore S. Fortuna L. Lombardo D. PATANE', Luca mostra contributor esterni nascondi contributor esterni
Data di pubblicazione:	2008
Serie:	PROCEEDINGS - IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS
Abstract:	In this paper a recently introduced and well promising methodology for robot perception is applied to autonomously learn robot navigation in an unstructured environment. Perception is here considered as the spontaneous, environmentally mediated, emergence of Turing patterns in CNNs as perceptual states. They, plastically associated to suitable actions, lead the robot to solve autonomously its task. Following this concept, robot behavior (in this case navigation) is reflected, in a virtual navigation through the different basins of attraction of the generated patterns, within the robot control neural network. The whole architecture was implemented in an FPGA-based hardware embedded on a roving robot. In the manuscript the perceptual architecture together with experimental results on a roving robot, will be reported. ©2008 IEEE.
Handle:	http://hdl.handle.net/11570/3150511
ISBN:	978-1-4244-1683-7
Appare nelle tipologie:	14.d.3 Contributi in extenso in Atti di convegno

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