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  4. Manifold-Based Sensorimotor Representations for Bootstrapping of Mobile Agents
 
Zitierlink DOI
10.26092/elib/24

Manifold-Based Sensorimotor Representations for Bootstrapping of Mobile Agents

Veröffentlichungsdatum
2020-03-17
Autoren
Rachuy, Carsten  
Betreuer
Schill, Kerstin  
Gutachter
Frese, Udo  
Zusammenfassung
Subject of this thesis is the development of a domain-independent algorithm that allows an autonomous system to process sequences of the sensorimotor interaction with its environment and to assign a geometric interpretation to its motor capabilities. We utilize Lie groups, smooth manifolds endowed with a group structure, that allow for an elegant representation of geometric operations as a central foundation for such a sensorimotor representation. Expressing motor controls with respect to the manifold structure allows us to transform the sensorimotor interaction sequence into a specific set of data points. Finding a manifold and a transformation that minimizes an intrinsic conflict function corresponds to finding a topological structure that is the best fit for expressing the sensorimotor space the entity resides in. Experiments in a virtual environment are conducted that show the applicability of the approach with respect to different sensor and motor configurations.
Schlagwörter
sensorimotor representation

; 

bootstrapping

; 

learning

; 

mobile agents

; 

manifolds

; 

Lie groups
Institution
Universität Bremen  
Fachbereich
Fachbereich 03: Mathematik/Informatik (FB 03)  
Dokumenttyp
Dissertation
Zweitveröffentlichung
Nein
Sprache
Englisch
Dateien
Lade...
Vorschaubild
Name

00108641-1.pdf

Size

43.02 MB

Format

Adobe PDF

Checksum

(MD5):5193676f42ebceeb173644e56a7e1708

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