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Citation link: https://doi.org/10.26092/elib/24
00108641-1.pdf
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Manifold-Based Sensorimotor Representations for Bootstrapping of Mobile Agents


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Other Titles: Mannigfaltigkeitsbasierte Sensomotorische Repräsentationen für das Bootstrapping Mobiler Agenten
Authors: Rachuy, Carsten  
Supervisor: Schill, Kerstin 
1. Expert: Schill, Kerstin 
Experts: Frese, Udo  
Abstract: 
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.
Keywords: sensorimotor representation; bootstrapping; learning; mobile agents; manifolds; Lie groups
Issue Date: 17-Mar-2020
Type: Dissertation
Secondary publication: no
DOI: 10.26092/elib/24
URN: urn:nbn:de:gbv:46-00108641-19
Institution: Universität Bremen 
Faculty: Fachbereich 03: Mathematik/Informatik (FB 03) 
Appears in Collections:Dissertationen

  

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