• Journal of the Korean Institute of Intelligent Systems
• /
• v.20 no.3
• /
• pp.441-446
• /
• 2010

Each robot decides and behaviors themselves surrounding circumstances in the swarm robot system. Robots have to conduct tasks allowed through cooperation with other robots. Therefore each robot should have the ability to learn and evolve in order to adapt to a changing environment. In this paper, we proposed learning based on Q-learning algorithm and evolutionary using Harmony Search algorithm and are trying to improve the accuracy using Harmony Search Algorithm, not the Genetic Algorithm. We verify that swarm robot has improved the ability to perform the task.

• The Journal of Korea Robotics Society
• /
• v.14 no.1
• /
• pp.40-49
• /
• 2019

Reinforcement learning has been applied to various problems in robotics. However, it was still hard to train complex robotic manipulation tasks since there is a few models which can be applicable to general tasks. Such general models require a lot of training episodes. In these reasons, deep neural networks which have shown to be good function approximators have not been actively used for robot manipulation task. Recently, some of these challenges are solved by a set of methods, such as Guided Policy Search, which guide or limit search directions while training of a deep neural network based policy model. These frameworks are already applied to a humanoid robot, PR2. However, in robotics, it is not trivial to adjust existing algorithms designed for one robot to another robot. In this paper, we present our implementation of Guided Policy Search to the robotic arms of the Baxter Research Robot. To meet the goals and needs of the project, we build on an existing implementation of Baxter Agent class for the Guided Policy Search algorithm code using the built-in Python interface. This work is expected to play an important role in popularizing robot manipulation reinforcement learning methods on cost-effective robot platforms.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2011.06a
• /
• pp.411-412
• /
• 2011

• Journal of IKEEE
• /
• v.25 no.3
• /
• pp.437-444
• /
• 2021

In this paper, we propose an autonomous driving algorithm that allows a robot to explore various terrains, and implement an application that can monitor the robot's movement path during terrain search. The implemented application consists of a status unit that indicates the position, direction, speed, and motion of the mobile robot, a map unit that displays terrain information obtained through terrain search, and a control unit that controls the movement of the mobile robot. In order to control the movement of the robot, only the start and stop of the search/return is commanded by the application, and all driving for the search is performed autonomously. The basic algorithm for terrain search uses an infrared sensor to check for obstacles in the order of left, front, right, and rear, and if there is no obstacle and the path traveled is a dead end, it returns to the previous position and moves in the other direction to continue the search. Repeat the process to explore the terrain.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.17 no.2
• /
• pp.167-174
• /
• 2014

In this paper, we address a task allocation problem for a robot team that performs a search and attack mission. The robots are limited in sensing and communication capabilities, and carry different types of resources that are used to attack a target. The environment is uncertain and dynamic where no prior information about targets is given and dynamic events unpredictably happen. The goal of robot team is to collect total utilities as much as possible by destroying targets in a mission horizon. To solve the problem, we propose a distributed task allocation framework incorporated with effective resource management based on resource welfare. The framework we propose enables the robot team to retain more robots available by balancing resources among robots, and respond smoothly to dynamic events, which results in system performance improvement.

• Proceedings of the Korean Society of Marine Engineers Conference
• /
• 2002.05a
• /
• pp.225-231
• /
• 2002

A specialized web search engine is an internet tool for detecting information in finite cyber world. It helps to retrieve necessary information in internet sites quickly In this paper, we design and implement a prototype search engine using method of mining for the association rule discovery. It consists of a search engine part and a search robot part. The search engine uses keyword method and is considered as various user oriented interface. The search robot fetches information related to ship parts n world wide web. The experiments show that our search engine(AISE) is superior to other search engines in collecting necessary informations.

• Journal of Mechanical Science and Technology
• /
• v.15 no.2
• /
• pp.217-224
• /
• 2001

In this paper, the relocation of a mobile robot is considered such that it enables the robot to determine its position with respect to a global reference frame without any $\alpha$ priori position information. The robot acquires sonar range data from a two-dimensional model composed of planes, corners, edges, and cylinders. Considering individual range as data features, the robot searches the best position where the data features of a position matches the environmental model using a constraint-based search method. To increase the search efficiency, a hypothesize and-verify technique is employed in which the position of the robot is calculated from all possible combinations of two range returns that satisfy the sonar sensing model. Accurate relocation is demonstrated with the results from sets of experiments using sparse sonar data in the presence of unmodeled objects.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2003.09a
• /
• pp.500-503
• /
• 2003

The navigation problem of robot is one of the main themes to deal with conficts or interferences between obstacles and the robot itself In this case, while the robot avoids obstacles on the space, the passage route should be determined efficiently. In order to solve problems above, we have come up with the distance field space medel (DFM) and then, under known environment, we have presented the distance field A algorithm for passage route path search. In this research, the method of performing the 3-dimensional passage route path search of robot under unknown environment is proposed. It is shown that the authors can build the distance search model the does not need space division by taking into account of sensor information to a distance field space model, and constructing this information as virtual obstacle information.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.4
• /
• pp.288-292
• /
• 2016

In this paper, we propose an infrared image based human victim recognition method for a search and rescue robot in dark environments, like general disaster situations. For recognizing a human victim, an infrared camera on a RGB-D camera, Microsoft Kinect, is used. The contrast and brightness of the infrared image are first improved by histogram equalization, and the noise on the image is removed by morphological operation and Gaussian filtering. For recognizing a human victim, the binarization and blob labeling methods are applied to the improved image. Finally, for verifying the effectiveness and feasibility of the proposed method, an experiment for human victim recognition is carried out in a dark environment.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.128-130
• /
• 1997

In the paper a problem of search for a moving robot by another moving robot is considered. The problem is formalized as minmax and maxmin task also as a game.