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Decision Making of Robots based on State-Action Map and Its Compression along with Local Learning Strategy

Research Project

Project/Area Number 16300050
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Perception information processing/Intelligent robotics
Research InstitutionThe University of Tokyo

Principal Investigator

ARAI Tamio  Univ. of Tokyo, Dept. of Precision Engineering, Professor, 大学院・工学系研究科, 教授 (40111463)

Co-Investigator(Kenkyū-buntansha) SHIMOMURA Yoshiki  Tokyo Metropolitan Univ., Dept. of System Design, Professor, システムデザイン学部, 教授 (80334332)
OTA Jun  Univ. of Tokyo, Graduate School of Engineering, Associate Prof., 大学院・工学系研究科, 助教授 (50233127)
MAEDA Yusuke  Yokohama National University, Dept. of Systems Design, Associate Prof., 大学院・工学研究院, 助教授 (50313036)
SUGI Masao  Univ. of Tokyo, Graduate School of information Science and Technology, Project Research Associate, 大学院・情報理工学系研究科, 研究拠点形成特任助手 (90372408)
UEDA Ryuichi  Univ. of Tokyo, Graduate School of Engineering, Research Associate, 大学院・工学系研究科, 助手 (20376502)
Project Period (FY) 2004 – 2006
Project Status Completed (Fiscal Year 2006)
Budget Amount *help
¥11,600,000 (Direct Cost: ¥11,600,000)
Fiscal Year 2006: ¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 2005: ¥3,500,000 (Direct Cost: ¥3,500,000)
Fiscal Year 2004: ¥6,100,000 (Direct Cost: ¥6,100,000)
Keywordsstate-action map / compression of state-action map / RoboCup / dynamic programming / RoboCup / 戦略的行動と学習 / state-action map / mobile robot in real world / simulator for sensors / vector quantization / Monte Carlo localization / resetting methods
Research Abstract

In this research, we have developed a novel set of methodology that makes autonomous robots act in the real-world for long time. For technology exchange, also, we have participated in the robot soccer world cup (RoboCup), where researchers have make robots work in the real-world successfully.
The methods developed are as follows: self-localization that is robust against unexpected conditions, a decision making method that cover any condition in a task, and another decision making method that deals with uncertainty of recognition.
Our novel self-localization method, which is a version of a particle filter, utilizes resetting methods. A resetting method is used when a particle filter loses the pose of a robot. We enhance the robustness of a particle filter for self-localization by combining two major resetting methods, which have antipodal characteristics.
As a planning and decision making method, we have proposed a compression method for decision making data, which is huge for install on memory of robots. Vector quantization is used for the compression.
The particle filter and the decision making rule is combined so that robots can deal with the problem of uncertainty in decision making. In this method, an expected value of appropriateness is calculated for each action toward the probability distribution represented by the particle filter. The most appropriate action is then chosen from the values. In experiments, robots can switch their behavior when the level of uncertainty is changed. For example, a robot keeps away from a wall of an environment when the distance between the robot and the wall is uncertain.

Report

(4 results)
  • 2006 Annual Research Report   Final Research Report Summary
  • 2005 Annual Research Report
  • 2004 Annual Research Report
  • Research Products

    (38 results)

All 2007 2006 2005 2004

All Journal Article (37 results) Book (1 results)

  • [Journal Article] パーティクルフィルタとQ-MDP法による状態推定の不確かさを考慮した自律ロボットの実時間行動決定2007

    • Author(s)
      上田隆一, 新井民夫
    • Journal Title

      日本ロボット学会誌 25・1

      Pages: 103-112

    • NAID

      10018695586

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Annual Research Report 2006 Final Research Report Summary
  • [Journal Article] Dynamic Programming for Creating Cooperative Behavior of Two Soccer Robots - Part 1 : Computation of State-Action Map2007

    • Author(s)
      Ryuichi Ueda, Kohei Sakamoto, Kazutaka Takeshita, Tamio Arai
    • Journal Title

      Proc. of IEEE International Conference on Robotics and Automation

      Pages: 1-7

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Reeal-Time Decision Making of Autonomous Robot under Uncertainty of State Estimation by Using Particle Filter and Q-MDP Value Method2007

    • Author(s)
      Ryuichi Ueda, "Tamio Arai
    • Journal Title

      Journal of the Robotics Society of Japan (in Japanese) Vol.25, No.1

      Pages: 103-112

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Dynamic Programming for Creating Cooperative Behavior of Two Soccer Robots ---Part 1 : Computation of State-Action Map2007

    • Author(s)
      Ryuichi Ueda, Kohei Sakamoto, Kazutaka Takeshita, Tamio Arai
    • Journal Title

      Proc. of IEEE International Conference on Robotics and Automation

      Pages: 1-7

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 照明環境の変化にロバストな実時間色認識手法の開発2007

    • Author(s)
      奥隅隆, 梅田和昇, 大隈久, 上田隆一, 新井民夫
    • Journal Title

      第12回ロボティクスシンポジア予稿集

      Pages: 246-251

    • Related Report
      2006 Annual Research Report
  • [Journal Article] サンプリング実時間Q-MDP法を用いた自律ロボットの行動決定2007

    • Author(s)
      実川達明, 上田隆一, 新井民夫, 竹下和孝, 長谷川悠史, 加瀬翔太, 奥隅隆, 梅田和昇, 大隈久
    • Journal Title

      第12回ロボティクスシンポジア予稿集

      Pages: 400-405

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 胴体部姿勢を考慮した四足歩行ロボットの最短時間制御2007

    • Author(s)
      長谷川悠史, 大隈 久, 梅田 和昇, 上田 隆一, 新井 民夫
    • Journal Title

      第12回ロボティクスシンポジア予稿集

      Pages: 516-521

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Robot Motion Planning by Reusing Multiple Knowledge under Uncertain Conditions2006

    • Author(s)
      Natsuki Yamanobe, Tamio Arai, Ryuichi Ueda
    • Journal Title

      Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 2232-2237

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Improvement of Color Recognition Using Colored Objects2006

    • Author(s)
      Toshifumi Kikuchi et al.
    • Journal Title

      Robot Soccer World Cup IX (RoboCup 2005) (A. Bredenfeld et al.(Eds.))

      Pages: 537-544

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Robot Motion Planning by Reusing Multiple Knowledge under Uncertain Conditions2006

    • Author(s)
      Natsuki Yamanobe et al.
    • Journal Title

      Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 2232-2237

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Improvement of Color Recognition Using Colored Objects(A. Bredenfeld et al. (Eds.))2006

    • Author(s)
      Toshifumi Kikuchi et al.
    • Journal Title

      RoboCup 2005 : Robot Soccer World Cup IX

      Pages: 537-544

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Intelligent Autonomous systems 92006

    • Author(s)
      Tamio Arai, Rolf Pheifer, Tucker Balch, Hiroshi Yokoi
    • Pages
      1044-1044
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Time Optimal Control for Quadruped Walking Robots2006

    • Author(s)
      Hisashi Osumi, Shogo Kamiya, Hirokazu Kato, Kazunori Umeda, Ryuichi Ueda, Tamio Arai
    • Journal Title

      Proc. of IEEE International Conference on Robotics and Automation

      Pages: 3475-3480

    • NAID

      110006793588

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Improvement of Color Recognition Using Colored Objects2006

    • Author(s)
      Toshifumi Kikuchi, Kazunori Umeda, Ryuichi Ueda, Yoshiaki Jitsukawa, Hisashi Osumi, Tamio Arai
    • Journal Title

      A.Bredenfeld et al.(Eds.) : RoboCup 2005

      Pages: 537-544

    • NAID

      130004657434

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Fast Vector Quantization for State-Action Map Compression2006

    • Author(s)
      Kazutaka TAKESHITA, Ryuichi UEDA, Tamio ARAI
    • Journal Title

      Intelligent Autonomous Systems 9 (T.Arai et al.(Eds.))

      Pages: 694-701

    • Related Report
      2005 Annual Research Report
  • [Journal Article] An Object Recognition method using Fuzzy Color Classification2006

    • Author(s)
      Yoshiaki Jitsukawa, Ryuichi Ueda, Tamio Arai, Toshifumi Kikuchi, Kazunori Umeda
    • Journal Title

      Proc.of 36th International Symposium on Robotics (ISR) (CD-ROM)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] カメラ特性を考慮した複数自律移動ロボットのための環境・計測シミュレータの開発2005

    • Author(s)
      梅田和昇, 浅沼和範, 菊地敏文, 上田隆一, 大隅 久, 新井民夫
    • Journal Title

      日本ロボット学会誌 23・7

      Pages: 878-885

    • NAID

      130000848545

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary 2005 Annual Research Report
  • [Journal Article] パーティクルフィルタを利用した自己位置推定に生じる致命的な推定誤りからの回復法2005

    • Author(s)
      上田隆一, 新井民夫, 浅沼和範, 梅田和昇, 大隅久
    • Journal Title

      日本ロボット学会誌 23・4

      Pages: 466-473

    • NAID

      10015728224

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] ベクトル量子化による決定論的方策地図の不可逆圧縮2005

    • Author(s)
      上田隆一, 深瀬武, 小林祐一, 新井民夫, 神谷昌吾
    • Journal Title

      日本ロボット学会誌 23・1

      Pages: 104-112

    • NAID

      10014103098

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary 2004 Annual Research Report
  • [Journal Article] Real-Time Decision Making with State-Value Function under Uncertainty of State Estimation -Evaluation with Local Maxima and Discontinuity2005

    • Author(s)
      Ryuichi Ueda, et al.
    • Journal Title

      Proc. of IEEE International Conference on Robotics and Automation

      Pages: 3475-3480

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Vector Quantization for State-Action Map Compression -Comparison with Coarse Discretization Techniques and Efficiency Enhancement2005

    • Author(s)
      Ryuichi Ueda, Tamio Arai, Kazutaka Takeshita
    • Journal Title

      Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 166-171

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Lossy Compression of Deterministic Policy Map with Vector Quantization2005

    • Author(s)
      Ryuichi Ueda et al.
    • Journal Title

      Journal of the Robotics Society of Japan (in Japanese) Vol.23, No.1

      Pages: 104-112

    • NAID

      10014103098

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Recovery Methods for Fatal Estimation Errors on Monte Carlo Localization2005

    • Author(s)
      Ryuichi Ueda et al.
    • Journal Title

      Journal of the Robotics Society of Japan (in Japanese) Vol.23, No.4

      Pages: 466-473

    • NAID

      10015728224

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Depelopment of a Simulator of Environment and Measurement for Multiple Autonomous Mobile Robots Considering Camera Characterinstics2005

    • Author(s)
      Kazunori Umeda et al.
    • Journal Title

      Journal of the Robotics Society of Japan (in Japanese) Vol.23, No.4

      Pages: 878-885

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Real-Time Decision Making with State-Value Function under Uncertainty of State Estimation -Evaluation with Local Maxima and Discontinuity2005

    • Author(s)
      Ryuichi Ueda et al.
    • Journal Title

      Proc. of IEEE International Conference on Robotics and Automation

      Pages: 3475-3480

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Vector Quantization for State-Action Map Compression - Comparison with Coarse Discretization Techniques and Efficiency Enhancement2005

    • Author(s)
      Ryuichi Ueda, Tamio Arai, Kazutaka Takeshita
    • Journal Title

      Proc.of IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 166-171

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Improvement of Color Recognition Using Colored Objects2005

    • Author(s)
      Kazunori Umeda, Toshifumi Kikuchi, Yoshiaki Jitsukawa, Ryuichi Ueda, Tamio Arai, Hisashi Osumi
    • Journal Title

      Proc.of RoboCup Symposium (CD-ROM)

    • NAID

      130004657434

    • Related Report
      2005 Annual Research Report
  • [Journal Article] タスク達成に有効な複数の独立ルールの統合によるロボットの動作計画2005

    • Author(s)
      山野辺 夏樹, 新井 民夫, 上田 隆一
    • Journal Title

      日本ロボット学会学術講演会予稿集 (CD-ROM)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] パーティクルフィルタを利用した自己位置推定に生じる致命的な推定誤りからの回復法2005

    • Author(s)
      上田隆一, 新井民夫, 浅沼和範, 梅田和昇, 大隅久
    • Journal Title

      日本ロボット学会誌 (掲載予定)

    • NAID

      10015728224

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Real-Time Decision Making with State-Value Function under Uncertainty of State Estimation -Evaluation with Local Maxima and Discontinuity2005

    • Author(s)
      Ryuichi Ueda, et al.
    • Journal Title

      Proc.of IEEE International Conference on Robotics and Automation (掲載予定)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Value Iteration Under the Constraint of Vector Quantization for Improving Compressed State-Action Maps2004

    • Author(s)
      Ryuichi Ueda, Tamio Arai
    • Journal Title

      Proc. of IEEE International Conference on Robotics and Automation

      Pages: 4771-4776

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Expansion Resetting for Recovery from Fatal Error in Monte Carlo Localization -Comparison with Sensor Resetting Methods2004

    • Author(s)
      Ryuichi UEDA et al.
    • Journal Title

      Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 2481-2486

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Development of a Simulator of Environment and Measurement for Autonomous Mobile Robots Considering Camera Characteristics2004

    • Author(s)
      Kazunori ASANUMA et al.
    • Journal Title

      Robot Soccer World Cup VII (RoboCup 2003) (Daniel Polani, et al. (Eds.))

      Pages: 446-457

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Expansion Resetting for Recovery from Fatal Error in Monte Carlo Localization -Comparison with Sensor Resetting Methods2004

    • Author(s)
      Ryuichi Ueda et al.
    • Journal Title

      Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 2481-2486

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Development of a Simulator of Environment and Measurement for Autonomous Mobile Robots Considering Camera Characteristics(Daniel Polani, et al. (Eds.))2004

    • Author(s)
      Kazunori Asanuma et al.
    • Journal Title

      RoboCup 2003 : Robot Soccer World Cup VII

      Pages: 446-457

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Expansion Resetting for Recovery from Fatal Error in Monte Carlo Localization -Comparison with Sensor Resetting Methods2004

    • Author(s)
      Ryuichi Ueda, et al.
    • Journal Title

      Proc.of IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 2481-2486

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Value Iteration Under the Constraint of Vector Quantization for Improving Compressed State-Action Maps2004

    • Author(s)
      Ryuichi Ueda, Tamio Arai
    • Journal Title

      Proc.of IEEE International Conference on Robotics and Automation

      Pages: 4771-4776

    • Related Report
      2004 Annual Research Report
  • [Book] Intelligent Autonomous systems 92006

    • Author(s)
      Tamio Arai, Rolf Pheifer, Tucker Balch, Hiroshi Yokoi
    • Total Pages
      1044
    • Publisher
      IOS Press
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary 2005 Annual Research Report

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Published: 2004-04-01   Modified: 2016-04-21  

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