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Task segmentation in a mobile robot by mnSOM and clustering with spatio-temporal contiguity
http://hdl.handle.net/10228/2414
http://hdl.handle.net/10228/2414ebb16de7-dd5c-41ff-907f-c2cad8473292
| 名前 / ファイル | ライセンス | アクション |
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IJICIC2008.pdf (708.8 kB)
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| アイテムタイプ | 学術雑誌論文 = Journal Article(1) | |||||||||||||
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| 公開日 | 2009-07-14 | |||||||||||||
| 資源タイプ | ||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||
| 資源タイプ | journal article | |||||||||||||
| タイトル | ||||||||||||||
| タイトル | Task segmentation in a mobile robot by mnSOM and clustering with spatio-temporal contiguity | |||||||||||||
| 言語 | en | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 著者 |
Muslim, Muhammad Aziz
× Muslim, Muhammad Aziz× 石川, 眞澄× 古川, 徹生
WEKO
661
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| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | In our previous study, task segmentation was done by mnSOM, using prior information that winner modules corresponding to subsequences in the same class share the same label. Since this prior informatiom is not available in real situation, segmentation thus obtained should be regarded as the upper bound for the performance, not as a candidate for performance comparison. Present paper proposes to do task segmentation by applying various clustering methods to the resulting mnSOM, without using the above prior information. Firstly, we use the conventional hierarchical clustering. It assumes that the distances between any pair of modules are provided with precision, but this is not the case in mnSOM. Secondly, we used a clustering method based on only the distance between spatially adjacent modules with modification by their temporal contiguity. In the robotic field 1, the segmentation performance by the hierarchical clustering is very close to the upper bound for novel data. In the robotic field 2, the segmentation performance by clustering with the spatio-temporal contiguity is very close to the upper bound for novel data. Therefore, the proposed methods demonstrated their effectiveness in segmentation.Keywords: mnSOM, Task segmentation, Clustering, Mobile robot, Temporal contiguity, Spatio-temporal contiguity | |||||||||||||
| 書誌情報 |
International Journal of Innovative Computing, Information and Control 巻 5, 号 4, p. 865-875, 発行日 2009-04-01 |
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| 出版者 | ICIC International | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | PISSN | |||||||||||||
| 収録物識別子 | 1349-4198 | |||||||||||||
| 著作権関連情報 | ||||||||||||||
| 権利情報 | ICIC International c2009 | |||||||||||||
| 出版タイプ | ||||||||||||||
| 出版タイプ | VoR | |||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||
| 査読の有無 | ||||||||||||||
| 値 | yes | |||||||||||||
| 研究者情報 | ||||||||||||||
| URL | http://hyokadb02.jimu.kyutech.ac.jp/html/3_ja.html | |||||||||||||
| 連携ID | ||||||||||||||
| 値 | 4 | |||||||||||||
| 業績ID | ||||||||||||||
| 値 | 27C2B1B646D847F24925757C00266BE6 | |||||||||||||
