Direct perception of traversibility affordance on range images through learning on a mobile robot

Uğur, Emre
In this thesis, we studied how physical affordances of the environment, such as traversibility for a mobile robot, can be learned. In particular, we studied how the physical properties of the environment, as acquired from range images obtained from a 3D laser scanner mounted on a mobile robot platform, can specify the traversibility affordance. A physics based simulation environment is used during exploration trials, where the traversibility affordances and the relevant features for each behavior are learned through physical interactions with the environment. The prediction accuracy in perceiving the traversibility affordances of the world, which includes several spherical, cylindrical and box shaped objects, is found to be 94 percent. Furthermore, it is observed that the robot uses only 1.1 percent of extracted features while perceiving the affordances. This in turn saves the time 76.6 percent in scanning and 81percent in feature processing. The robot is later tested in a simulated cluttered environment, surrounded by walls. It is able to successfully traverse in the environment, by selecting its behaviors based on the affordances provided, and performing them. The robot was able to avoid from the box shaped objects, and push-roll the spherical ones without making any object detection. In the last set of experiments, the trained affordance-based behavior selection scheme is partially veried in the real world with the Kurt3D robot.


Robot planing based on learned affordances
Çakmak, Maya; Şahin, Erol; Department of Computer Engineering (2007)
This thesis studies how an autonomous robot can learn affordances from its interactions with the environment and use these affordances in planning. It is based on a new formalization of the concept which proposes that affordances are relations that pertain to the interactions of an agent with its environment. The robot interacts with environments containing different objects by executing its atomic actions and learns the different effects it can create, as well as the invariants of the environments that aff...
Face detection in active robot vision
Önder, Murat; Halıcı, Uğur; Department of Electrical and Electronics Engineering (2004)
The main task in this thesis is to design a robot vision system with face detection and tracking capability. Hence there are two main works in the thesis: Firstly, the detection of the face on an image that is taken from the camera on the robot must be achieved. Hence this is a serious real time image processing task and time constraints are very important because of this reason. A processing rate of 1 frame/second is tried to be achieved and hence a fast face detection algorithm had to be used. The Eigenfa...
Control of a mobile robot swarm via informed robots
Çelikkanat, Hande; Şahin, Erol; Department of Computer Engineering (2008)
In this thesis, we study how and to what extent a self-organized mobile robot flock can be guided by informing some of the robots within the flock about a preferred direction of motion. Specifically, we extend a flocking behavior that was shown to maneuver a swarm of mobile robots as a cohesive group in free space, avoiding obstacles. In its original form, this behavior does not have a preferred direction and the flock would wander aimlessly. In this study, we incorporate a preference for a goal direction i...
Ethernet based real time communications for embedded systems
Yılmaz, Ozan; Schmidt, Şenan Ece; Department of Electrical and Electronics Engineering (2010)
Fast paced improvement of Ethernet technology has also received attention in the industry field like it did in other fields and ways of usage have started to be studied. As it is understood that the standard Ethernet protocols cannot be used due to the unsatisfied real time requirements, industrial and academic researchers have started to develop solutions to overcome this deficiency. In this thesis, the real hardware adaptations of Real Time Ethernet and RTXX protocol algorithms are implemented and their b...
Evolving aggregation behaviors for swarm robotics systems: a systematic case study
Bahçeci, Erkin; Şahin, Erol; Department of Computer Engineering (2005)
Evolutionary methods are shown to be useful in developing behaviors in robotics. Interest in the use of evolution in swarm robotics is also on the rise. However, when one attempts to use artificial evolution to develop behaviors for a swarm robotic system, he is faced with decisions to be made regarding some parameters of fitness evaluations and of the genetic algorithm. In this thesis, aggregation behavior is chosen as a case, where performance and scalability of aggregation behaviors of perceptron control...
Citation Formats
E. Uğur, “Direct perception of traversibility affordance on range images through learning on a mobile robot,” M.S. - Master of Science, Middle East Technical University, 2006.