Topological Structure Learning Based Enclosing Formation Behavior for Monitoring System

Yuichiro Toda, Naoyuki Kubota

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Recently, the expectation to teleoperated mobile robots has been increasing much in order to perform the monitoring in various scenes. However, there are many critical problems in the teleoperated mobile robots. In this paper, we discuss cooperative formation behavior of teleoperated multiple robots. Especially, we focus on an enclosing formation behavior of a target object. First, we define the problem setting of the enclosing formation behavior. In our method, the enclosing formation is divided by two strategies in order to reduce the search space of robot poses. Next, we introduce Batch Learning Growing Neural Gas (BL-GNG) in order to improve the learning convergence and reduce the user-designed parameters in GNG. BL-GNG uses an objective function based on Fuzzy C-means for improving the learning convergence. Furthermore, we apply two-layers BL-GNG to decide the positions of enclosing formation. Finally, we show several experimental results of the proposed method.

Original languageEnglish
Title of host publicationProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages831-836
Number of pages6
ISBN (Electronic)9781538666500
DOIs
Publication statusPublished - Jan 16 2019
Event2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 - Miyazaki, Japan
Duration: Oct 7 2018Oct 10 2018

Publication series

NameProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018

Conference

Conference2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
CountryJapan
CityMiyazaki
Period10/7/1810/10/18

Keywords

  • Growing Neural Gas
  • Tele-monitoring system

ASJC Scopus subject areas

  • Information Systems
  • Information Systems and Management
  • Health Informatics
  • Artificial Intelligence
  • Computer Networks and Communications
  • Human-Computer Interaction

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  • Cite this

    Toda, Y., & Kubota, N. (2019). Topological Structure Learning Based Enclosing Formation Behavior for Monitoring System. In Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 (pp. 831-836). [8616145] (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2018.00149