TY - GEN
T1 - Learning from Demonstration Using GMM, CHMM and DHMM
T2 - Advances in Artificial Intelligence
AU - Ge, Fenglu
AU - Moore, Wayne
AU - Antolovich, Michael
N1 - Imported on 03 May 2017 - DigiTool details were: publisher = Switzerland: Springer, 2015. editor/s (773b) = Bernhard Pfahringer and Jochen Renz; Event dates (773o) = 30-11-2015-05-12-2015; Parent title (773t) = Advances in Artificial Intelligence. ISSNs: 0302-9743;
PY - 2015
Y1 - 2015
N2 - Greater production and improved safety in the mining industry can be enhanced by the use of automated vehicles. This paper presents results in applying Learning from Demonstration (LfD) to a laboratory semi-automated mine inspection robot following a path through a simulated mine. Three methods, Gaussian Mixture Model (GMM), Continuous Hidden Markov Model (CHMM), and Discrete Hidden Markov Model (DHMM) were used to implement the LfD and a comparison of the implementation results is presented. The results from the different models were then used to implement a novel, optimised path decomposition technique that may be suitable for possible robot use within an underground mine.
AB - Greater production and improved safety in the mining industry can be enhanced by the use of automated vehicles. This paper presents results in applying Learning from Demonstration (LfD) to a laboratory semi-automated mine inspection robot following a path through a simulated mine. Three methods, Gaussian Mixture Model (GMM), Continuous Hidden Markov Model (CHMM), and Discrete Hidden Markov Model (DHMM) were used to implement the LfD and a comparison of the implementation results is presented. The results from the different models were then used to implement a novel, optimised path decomposition technique that may be suitable for possible robot use within an underground mine.
KW - Mining; Robot; Autonomous; Path' LfD; Markov Model; Gaussian
U2 - 10.1007/978-3-319-26350-2_18
DO - 10.1007/978-3-319-26350-2_18
M3 - Conference paper
VL - 9457
SP - 204
EP - 217
BT - AI 2015
A2 - Pfahringer, Bernhard
A2 - Renz, Jochen
PB - Springer
CY - Switzerland
Y2 - 30 November 2015 through 5 December 2015
ER -