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Evolving an Environment Model for Robot Localization

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Genetic Programming (EuroGP 1999)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 1598))

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Abstract

The use of an evolutionary method for robot localization is explored. We use genetic programming to evolve an inverse function mapping sensor readings to robot locations. This inverse function is an internal model of the environment. The robot senses its environment using dense distance information which may be obtained from a laser range finder. Moments are calculated from the distance distribution. These moments are used as terminal symbols in the evolved function. Arithmetic, trigonometric functions and a conditional statement are used as primitive functions. Using this representation we evolved an inverse function to localize a robot in a simulated office environment. Finally, we analyze the accuracy of the resulting function.

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Author information

Authors and Affiliations

  1. Wilhelm-Schickard-Institut für Informatik, Eberhard-Karls-Universität Tübingen, Arbeitsbereich Rechnerarchitektur Köstlinstraße 6, 72074, Tübingen, Germany

    Marc Ebner

Authors
  1. Marc Ebner
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Editor information

Editors and Affiliations

  1. School of Computer Science, University of Birmingham, Egdbaston, Birmingham, B15 2TT, UK

    Riccardo Poli

  2. Department of Physical Resource Theory, Chalmers University of Technology, S-412 96, Göteborg, Sweden

    Peter Nordin

  3. Centrum voorWiskunde en Informatic, Kruislaan 413, 1098, SJ Amsterdam, The Netherlands

    William B. Langdon

  4. Napier University, 219 Colinton Road, Edinburgh, EH14 1DJ, UK

    Terence C. Fogarty

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© 1999 Springer-Verlag Berlin Heidelberg

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Ebner, M. (1999). Evolving an Environment Model for Robot Localization. In: Poli, R., Nordin, P., Langdon, W.B., Fogarty, T.C. (eds) Genetic Programming. EuroGP 1999. Lecture Notes in Computer Science, vol 1598. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-48885-5_15

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  • DOI: https://doi.org/10.1007/3-540-48885-5_15

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-65899-3

  • Online ISBN: 978-3-540-48885-9

  • eBook Packages: Springer Book Archive

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