Growing Robot Navigation Based on Deep Reinforcement Learning
The recent progress in materials and structures has kick-started the development of soft eversion robot with the ability to grow in size. However, despite its promising capability to navigate challenging terrains, this type of robot still lacks a navigation strategy due to the robot's complexit...
| Main Authors: | , |
|---|---|
| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers Inc.
2023
|
| Subjects: | |
| Online Access: | https://repository.ugm.ac.id/285860/1/Growing%20Robot%20Navigation.pdf |
| _version_ | 1797037893482446848 |
|---|---|
| author | Ataka, Ahmad Sandiwan, Andreas P. |
| author_facet | Ataka, Ahmad Sandiwan, Andreas P. |
| author_sort | Ataka, Ahmad |
| collection | UGM |
| description | The recent progress in materials and structures has kick-started the development of soft eversion robot with the ability to grow in size. However, despite its promising capability to navigate challenging terrains, this type of robot still lacks a navigation strategy due to the robot's complexity courtesy of its increasing degrees of freedom as it grows. In this paper, we develop a growing robot navigation strategy based on deep reinforcement learning. The reinforcement learning was specifically designed to work with growing robot even as its degrees of freedom increase. The algorithm was shown to work in navigating growing robot in a planar environment towards a random target. The results show that the reinforcement learning is a promising candidate to be used for growing robot navigation. |
| first_indexed | 2024-03-14T00:11:02Z |
| format | Conference or Workshop Item |
| id | oai:generic.eprints.org:285860 |
| institution | Universiti Gadjah Mada |
| language | English |
| last_indexed | 2024-03-14T00:11:02Z |
| publishDate | 2023 |
| publisher | Institute of Electrical and Electronics Engineers Inc. |
| record_format | dspace |
| spelling | oai:generic.eprints.org:2858602024-03-05T01:19:37Z https://repository.ugm.ac.id/285860/ Growing Robot Navigation Based on Deep Reinforcement Learning Ataka, Ahmad Sandiwan, Andreas P. Electrical and Electronic Engineering not elsewhere classified The recent progress in materials and structures has kick-started the development of soft eversion robot with the ability to grow in size. However, despite its promising capability to navigate challenging terrains, this type of robot still lacks a navigation strategy due to the robot's complexity courtesy of its increasing degrees of freedom as it grows. In this paper, we develop a growing robot navigation strategy based on deep reinforcement learning. The reinforcement learning was specifically designed to work with growing robot even as its degrees of freedom increase. The algorithm was shown to work in navigating growing robot in a planar environment towards a random target. The results show that the reinforcement learning is a promising candidate to be used for growing robot navigation. Institute of Electrical and Electronics Engineers Inc. 2023 Conference or Workshop Item PeerReviewed application/pdf en https://repository.ugm.ac.id/285860/1/Growing%20Robot%20Navigation.pdf Ataka, Ahmad and Sandiwan, Andreas P. (2023) Growing Robot Navigation Based on Deep Reinforcement Learning. In: 2023 9th International Conference on Control, Automation and Robotics, ICCAR 2023, 21 April 2023 - 23 April 2023, Beijing, China. https://ieeexplore.ieee.org/document/10151740 |
| spellingShingle | Electrical and Electronic Engineering not elsewhere classified Ataka, Ahmad Sandiwan, Andreas P. Growing Robot Navigation Based on Deep Reinforcement Learning |
| title | Growing Robot Navigation Based on Deep Reinforcement Learning |
| title_full | Growing Robot Navigation Based on Deep Reinforcement Learning |
| title_fullStr | Growing Robot Navigation Based on Deep Reinforcement Learning |
| title_full_unstemmed | Growing Robot Navigation Based on Deep Reinforcement Learning |
| title_short | Growing Robot Navigation Based on Deep Reinforcement Learning |
| title_sort | growing robot navigation based on deep reinforcement learning |
| topic | Electrical and Electronic Engineering not elsewhere classified |
| url | https://repository.ugm.ac.id/285860/1/Growing%20Robot%20Navigation.pdf |
| work_keys_str_mv | AT atakaahmad growingrobotnavigationbasedondeepreinforcementlearning AT sandiwanandreasp growingrobotnavigationbasedondeepreinforcementlearning |