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Robot Teams: Sharing Visual Memories

  • Conference paper
Distributed Autonomous Robotic Systems

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 104))

Abstract

This paper presents, the Growing Neural Gas (GNG), an unsupervised learning algorithm, which allows a team of robots to memorize scenes and collectively create a general understanding of the environment that is easily understood and referenced by humans is presented. Each robot will have its own memory represented by a graph with nodes encoding the visual information of a video stream as a limited set of representative images. GNG are self-organizing neural networks that can dynamically adapt their reference vectors and topology. Frames are sequentially processed by the GNG, automatically generating nodes, establishing connections between them and creating clusters dynamically.We mainly focus on creating a robot team learning mechanism to achieve a distributed system of robots automatically sharing acquired knowledge with others available within the area. This is done using keyframes representing clusters within the robot memory.

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Author information

Authors and Affiliations

  1. Faculty of Science, Engineering and Computing, Kingston University, London, UK

    Raphael Grech, Francisco Flórez-Revuelta & Paolo Remagnino

  2. Faculty of Computing and Engineering, University of Ulster, UK and Visiting Academic at Kingston University, London, UK

    Dorothy N. Monekosso

Authors
  1. Raphael Grech
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  2. Francisco Flórez-Revuelta
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  3. Dorothy N. Monekosso
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  4. Paolo Remagnino
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Corresponding author

Correspondence to Raphael Grech .

Editor information

Editors and Affiliations

  1. Mechanical Engineering and Mechanics, Drexel University, Philadelphia, USA

    M. Ani Hsieh

  2. Department of Mechanical Engineering, Johns Hopkins University, Baltimore, Maryland, USA

    Gregory Chirikjian

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© 2014 Springer-Verlag Berlin Heidelberg

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Grech, R., Flórez-Revuelta, F., Monekosso, D.N., Remagnino, P. (2014). Robot Teams: Sharing Visual Memories. In: Ani Hsieh, M., Chirikjian, G. (eds) Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 104. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-55146-8_26

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  • DOI: https://doi.org/10.1007/978-3-642-55146-8_26

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-55145-1

  • Online ISBN: 978-3-642-55146-8

  • eBook Packages: EngineeringEngineering (R0)

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