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In this work, we investigate the problem of level curve tracking in unknown scalar fields using a limited number of mobile robots. We design and implement a long short-term memory (LSTM) enabled control strategy for a mobile sensor network to detect and track desired level curves. Based on the existing work of cooperative Kalman filter, we design an LSTM-enhanced Kalman filter that utilizes the sensor measurements and a sequence of past fields and gradients to estimate the current field value and gradient. We also design an LSTM model to estimate the Hessian of the field. The LSTM-enabled strategy has some benefits such as it can be trained offline on a collection of level curves in known fields prior to deployment, where the trained model will enable the mobile sensor network to track level curves in unknown fields for various applications. Another benefit is that we can train using larger resources to get more accurate models while utilizing a limited number of resources when the mobile sensor network is deployed in production. Simulation results show that this LSTM-enabled control strategy successfully tracks the level curve using a mobile multi-robot sensor network.
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Level Curve Tracking without Localization Enabled by Recurrent Neural Networks
Recursive neural networks can be trained to serve as a memory for robots to perform intelligent behaviors when localization is not available. This paper develops an approach to convert a spatial map, represented as a scalar field, into a trained memory represented by the long short-term memory (LSTM) neural network. The trained memory can be retrieved through sensor measurements collected by robots to achieve intelligent behaviors, such as tracking level curves in the map. Memory retrieval does not require robot locations. The retrieved information is combined with sensor measurements through a Kalman filter enabled by the LSTM (LSTM-KF). Furthermore, a level curve tracking control law is designed. Simulation results show that the LSTM-KF and the control law are effective to generate level curve tracking behaviors for single-robot and multi-robot teams.
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- PAR ID:
- 10212086
- Date Published:
- Journal Name:
- 2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)
- Page Range / eLocation ID:
- 759 to 763
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/CACRE50138.2020.9230272
