Matches in SemOpenAlex for { <https://semopenalex.org/work/W4380136265> ?p ?o ?g. }
Showing items 1 to 77 of
77
with 100 items per page.
- W4380136265 abstract "Autonomous navigation in unknown environments without a global map is a long-standing challenge for mobile robots. While deep reinforcement learning (DRL) has attracted a rapidly growing interest in solving such an autonomous navigation problem for its generalization capability, DRL typically leads to a mediocre navigation performance in practice due to the gap between the training scene and the actual test scene. Most existing work focuses on tuning the algorithm to enhance its transferability, whereas few investigates how to quantify or measure the gap therebetween. This letter presents a local map-based deep Q-network (DQN) navigation algorithm, which uses local maps converted from 2D LiDAR data as observations without a global map. More importantly, this letter proposes a new transferability metric -- the scene similarity calculated from an improved image template matching algorithm to measure the similarity between the training and test scenes. With a wheeled robot as the case study platform, both simulation and real-world experiments are conducted in a total of 20 different scenes. The case study results successfully validate the local map-based navigation algorithm as well as the similarity metric in predicting the transferability or success rate of the algorithm." @default.
- W4380136265 created "2023-06-10" @default.
- W4380136265 creator A5059772938 @default.
- W4380136265 creator A5062515466 @default.
- W4380136265 date "2023-06-07" @default.
- W4380136265 modified "2023-09-27" @default.
- W4380136265 title "Local Map-Based DQN Navigation and a Transferability Metric Using Scene Similarity" @default.
- W4380136265 doi "https://doi.org/10.48550/arxiv.2306.04910" @default.
- W4380136265 hasPublicationYear "2023" @default.
- W4380136265 type Work @default.
- W4380136265 citedByCount "0" @default.
- W4380136265 crossrefType "posted-content" @default.
- W4380136265 hasAuthorship W4380136265A5059772938 @default.
- W4380136265 hasAuthorship W4380136265A5062515466 @default.
- W4380136265 hasBestOaLocation W43801362651 @default.
- W4380136265 hasConcept C103278499 @default.
- W4380136265 hasConcept C105795698 @default.
- W4380136265 hasConcept C115961682 @default.
- W4380136265 hasConcept C119857082 @default.
- W4380136265 hasConcept C124101348 @default.
- W4380136265 hasConcept C127413603 @default.
- W4380136265 hasConcept C134306372 @default.
- W4380136265 hasConcept C140331021 @default.
- W4380136265 hasConcept C154945302 @default.
- W4380136265 hasConcept C165064840 @default.
- W4380136265 hasConcept C176217482 @default.
- W4380136265 hasConcept C177148314 @default.
- W4380136265 hasConcept C19966478 @default.
- W4380136265 hasConcept C21547014 @default.
- W4380136265 hasConcept C26990112 @default.
- W4380136265 hasConcept C2776517306 @default.
- W4380136265 hasConcept C2780009758 @default.
- W4380136265 hasConcept C31972630 @default.
- W4380136265 hasConcept C33923547 @default.
- W4380136265 hasConcept C41008148 @default.
- W4380136265 hasConcept C61272859 @default.
- W4380136265 hasConcept C65401140 @default.
- W4380136265 hasConcept C90509273 @default.
- W4380136265 hasConceptScore W4380136265C103278499 @default.
- W4380136265 hasConceptScore W4380136265C105795698 @default.
- W4380136265 hasConceptScore W4380136265C115961682 @default.
- W4380136265 hasConceptScore W4380136265C119857082 @default.
- W4380136265 hasConceptScore W4380136265C124101348 @default.
- W4380136265 hasConceptScore W4380136265C127413603 @default.
- W4380136265 hasConceptScore W4380136265C134306372 @default.
- W4380136265 hasConceptScore W4380136265C140331021 @default.
- W4380136265 hasConceptScore W4380136265C154945302 @default.
- W4380136265 hasConceptScore W4380136265C165064840 @default.
- W4380136265 hasConceptScore W4380136265C176217482 @default.
- W4380136265 hasConceptScore W4380136265C177148314 @default.
- W4380136265 hasConceptScore W4380136265C19966478 @default.
- W4380136265 hasConceptScore W4380136265C21547014 @default.
- W4380136265 hasConceptScore W4380136265C26990112 @default.
- W4380136265 hasConceptScore W4380136265C2776517306 @default.
- W4380136265 hasConceptScore W4380136265C2780009758 @default.
- W4380136265 hasConceptScore W4380136265C31972630 @default.
- W4380136265 hasConceptScore W4380136265C33923547 @default.
- W4380136265 hasConceptScore W4380136265C41008148 @default.
- W4380136265 hasConceptScore W4380136265C61272859 @default.
- W4380136265 hasConceptScore W4380136265C65401140 @default.
- W4380136265 hasConceptScore W4380136265C90509273 @default.
- W4380136265 hasLocation W43801362651 @default.
- W4380136265 hasOpenAccess W4380136265 @default.
- W4380136265 hasPrimaryLocation W43801362651 @default.
- W4380136265 hasRelatedWork W1966724717 @default.
- W4380136265 hasRelatedWork W1995188412 @default.
- W4380136265 hasRelatedWork W1995274592 @default.
- W4380136265 hasRelatedWork W2000747543 @default.
- W4380136265 hasRelatedWork W2007079389 @default.
- W4380136265 hasRelatedWork W2116298349 @default.
- W4380136265 hasRelatedWork W2123436641 @default.
- W4380136265 hasRelatedWork W2363324757 @default.
- W4380136265 hasRelatedWork W2965672371 @default.
- W4380136265 hasRelatedWork W2162526407 @default.
- W4380136265 isParatext "false" @default.
- W4380136265 isRetracted "false" @default.
- W4380136265 workType "article" @default.