Learning to Explore and Build Maps

  title={Learning to Explore and Build Maps},
  author={David Pierce and Benjamin Kuipers},
Using the methods demonstrated in this paper, a robot with an unknown sensorimotor system can learn sets of features and behaviors adequate to explore a continuous environment and abstract it to a finitestate automaton. The structure of this automaton can then be learned from experience, and constitutes a cognitive map of the environment. A generate-andtest method is used to define a hierarchy of features defined on the raw sense vector culminating in a set of continuously differentiable local… CONTINUE READING


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