Learning from examples in unstructured, outdoor environments
Jie Sun, Tejas Mehta, Dave Wooden, Matthew D. Powers, James Matthew Rehg, Tucker R. Balch, Magnus Egerstedt · Journal of Field Robotics · 2006
Abstract In this paper, we present a multi‐pronged approach to the “Learning from Example” problem. In particular, we present a framework for integrating learning into a standard, hybrid navigation strategy, composed of both plan‐based and reactive controllers. Based on the classification of colors and textures as either good or bad, a global map is populated with estimates of preferability in conjunction with the standard obstacle information. Moreover, individual feedback mappings from learned features to learned control actions are introduced as additional behaviors in the behavioral suite. A number of real‐world experiments are discussed that illustrate the viability of the proposed method. © 2007 Wiley Periodicals, Inc.