Robot planing based on learned affordances

Download

index.pdf

Date

2007

Author

Çakmak, Maya

Metadata

Show full item record

Item Usage Stats

356
views

182
downloads

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 afford creating that effect with a certain action. This provides the robot with the ability to predict the consequences of its future interactions and to deliberatively plan action sequences to achieve a goal. The study shows that the concept of affordances provides a common framework for studying reactive control, deliberation and adaptation in autonomous robots. It also provides solutions to the major problems in robot planning, by grounding the planning operators in the low-level interactions of the robot.

Subject Keywords

Electronic Computers., Computer Science.

URI

http://etd.lib.metu.edu.tr/upload/12608551/index.pdf
https://hdl.handle.net/11511/16855

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

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...
An automated tool for information security management system Erkan, Ahmet; Arifoğlu, Ali; Department of Information Systems (2006) This thesis focuses on automation of processes of Information Security Management System. In accordance with two International Standards, ISO/IEC 27001:2005 and ISO/IEC 17799:2005, to automate the activities required for a documented ISMS as much as possible helps organizations. Some of the well known tools in this scope are analyzed and a comparative study on them including “InfoSec Toolkit”, which is developed for this purpose in the thesis scope, is given. “InfoSec Toolkit” is based on ISO/IEC 27001:2005...
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...
Moving object identification and event recognition in video surveillance systems Örten, Burkay Birant; Alatan, Abdullah Aydın; Department of Electrical and Electronics Engineering (2005) This thesis is devoted to the problems of defining and developing the basic building blocks of an automated surveillance system. As its initial step, a background-modeling algorithm is described for segmenting moving objects from the background, which is capable of adapting to dynamic scene conditions, as well as determining shadows of the moving objects. After obtaining binary silhouettes for targets, object association between consecutive frames is achieved by a hypothesis-based tracking method. Both of t...
Direct perception of traversibility affordance on range images through learning on a mobile robot Uğur, Emre; Şahin, Erol; Department of Computer Engineering (2006) 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 learne...

Citation Formats

M. Çakmak, “Robot planing based on learned affordances,” M.S. - Master of Science, Middle East Technical University, 2007.