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Paper Abstract and Keywords
Presentation 2008-03-13 10:40
Graph-based Maps Formation for Mobile Robots by Hidden Markov Models
Muhammad Aziz Muslim, Masumi Ishikawa (Kyushu Inst. of Tech.) NC2007-164
Abstract (in Japanese) (See Japanese page) 
(in English) The present paper proposes a probabilistic approach to recognizing the environment of a mobile robot and to generate a graph-based map based on the estimation of Hidden Markov Models (HMMs). This is because recognition of the environment based on a short interval of data is not enough when sensory signals are corrupted by noise. Graph-based maps are effective in decreasing the computational cost. Two methods for constructing graph-based maps are proposed. The former is to estimate HMMs based on quantized sensory-motor signals. The latter is to estimate HMMs based on a sequence of labels obtained by modular network SOM (mnSOM). The resulting sequence of HMMs can be converted into a graph-based map in a straightforward way. Simulation results demonstrate that the proposed method is able to construct graph-based maps effectively, and to perform goal seeking efficiently.
Keyword (in Japanese) (See Japanese page) 
(in English) Hidden Markov Model / Graph-based Map / mnSOM / k-means / mobile robot / / /  
Reference Info. IEICE Tech. Rep., vol. 107, no. 542, NC2007-164, pp. 307-312, March 2008.
Paper # NC2007-164 
Date of Issue 2008-03-05 (NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF NC2007-164

Conference Information
Committee NC MBE  
Conference Date 2008-03-12 - 2008-03-14 
Place (in Japanese) (See Japanese page) 
Place (in English) Tamagawa Univ 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2008-03-NC-MBE 
Language English 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Graph-based Maps Formation for Mobile Robots by Hidden Markov Models 
Sub Title (in English)  
Keyword(1) Hidden Markov Model  
Keyword(2) Graph-based Map  
Keyword(3) mnSOM  
Keyword(4) k-means  
Keyword(5) mobile robot  
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Keyword(8)  
1st Author's Name Muhammad Aziz Muslim  
1st Author's Affiliation Kyushu Institute of Technology (Kyushu Inst. of Tech.)
2nd Author's Name Masumi Ishikawa  
2nd Author's Affiliation Kyushu Institute of Technology (Kyushu Inst. of Tech.)
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Speaker Author-1 
Date Time 2008-03-13 10:40:00 
Presentation Time 20 minutes 
Registration for NC 
Paper # NC2007-164 
Volume (vol) vol.107 
Number (no) no.542 
Page pp.307-312 
#Pages 6 
Date of Issue 2008-03-05 (NC) 

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