Simulation-based internal models for safer robots

Blum, C., Winfield, A. F. and Hafner, V. V. (2018) Simulation-based internal models for safer robots. Frontiers in Robotics and AI, 4 (74). pp. 1-17. ISSN 2296-9144 Available from: http://eprints.uwe.ac.uk/34120

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Abstract/Description

In this paper we explore the potential of mobile robots with simulation-based internal models for safety in highly dynamic environments. We propose a robot with a simulation of itself, other dynamic actors and its environment, inside itself. Operating in real-time this simulation-based internal model is able to look ahead and predict the consequences of both the robot's own actions and those of the other dynamic actors in its vicinity. Hence the robot continuously modifies its own actions in order to actively maintain its own safety while also achieving its goal. Inspired by the problem of how mobile robots could move quickly and safely through crowds of moving humans, we present experimental results which compare the performance of our internal simulation-based controller with a purely reactive approach as a proof-of-concept study for the practical use of simulation-based internal models.

Item Type: Article
Additional Information: This Document is Protected by copyright and was first published by Frontiers. All rights reserved. it is reproduced with permission.
Uncontrolled Keywords: robot safety, multi-robot systems, swarm robotics, internal modelling, internal simulations
Faculty/Department: Faculty of Environment and Technology > Department of Engineering Design and Mathematics
Depositing User: Professor A. Winfield
Date Deposited: 15 Dec 2017 15:28
Last Modified: 26 Jan 2018 18:54
URI: http://eprints.uwe.ac.uk/id/eprint/34120

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