Yuri Gavshin

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We argue that an ability to determine the reversibility of actions allows a robot to identify safe behaviors autonomously. We introduce a notion of reversibility model and give a definition of model refinement. We implement this on a real robot and observe that, when a reversibility model is refined by the addition of proximity sensors, obstacle avoidance(More)
This paper presents a practical approach to identification of reverse-action pairs for reversibility-based learning to develop safe behaviors. The approach is to analyze reversibility of consecutive actions by introducing metrics defined on the actions and the states. The experiment is conducted in the Player/Stage simulator to test applicability of the(More)
This article presents the implementation of an innovative safety module for a robot control architecture. It applies the principle of reversibility to assess intrinsic safety of actions and to adapt robot's behavior. The underlying idea is that all reversible actions are intrinsically safe. A practical experiment is conducted to demonstrate the approach.(More)
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