Search

Spatial awareness is an important competence for a mobile robotic system. A robot needs to localise and perform context interpretation to provide any meaningful service. With the deep learning tools and readily available sensors, visual place recognition is a first step towards identifying the environment to bring a robot closer to spatial awareness. In this paper, we implement place recognition on a mobile robot considering a deep learning approach. For simple place classification, where the task involves classifying images into a limited number of categories, all three architectures; VGG16, Inception-v3 and ResNet50, perform well. However, considering the pros and cons, the choice may depend on available computational resources and deployment constraints.

Different reinforcement learning (RL) methods exist to address the problem of combining multiple different learners to generate a superior learner. These existing methods usually assume that each learner uses the same algorithm and/or state representation. We propose an ensemble learner that combines a set of base learners and leverages the strengths of the different base learners online. We demonstrate the proposed ensemble learner’s ability to combine the strengths of multiple base learners and adapt to changes in base learner performance on various domains, including the Atari Breakout domain.