elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Robotic Information Gathering with Reinforcement Learning assisted by Domain Knowledge: an Application to Gas Source Localization

Wiedemann, Thomas and Vlaicu, Cosmin and Josifovski, Josip and Viseras Ruiz, Alberto (2021) Robotic Information Gathering with Reinforcement Learning assisted by Domain Knowledge: an Application to Gas Source Localization. IEEE Access. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/ACCESS.2021.3052024. ISSN 2169-3536.

[img] PDF - Published version
1MB

Abstract

Gas source localization tackles the problem of finding leakages of hazardous substances such as poisonous gases or radiation in the event of a disaster. In order to avoid threats for human operators, autonomous robots dispatched for localizing potential gas sources are preferable. This work investigates a Reinforcement Learning framework that allows a robotic agent to learn how to localize gas sources. We propose a solution that assists Reinforcement Learning with existing domain knowledge based on a model of the gas dispersion process. In particular, we incorporate a priori domain knowledge by designing appropriate rewards and observation inputs for the Reinforcement Learning algorithm. We show that a robot trained with our proposed method outperforms state-of-the-art gas source localization strategies, as well as robots that are trained without additional domain knowledge. Furthermore, the framework developed in this work can also be generalized to a large variety of information gathering tasks.

Item URL in elib:https://elib.dlr.de/140623/
Document Type:Article
Title:Robotic Information Gathering with Reinforcement Learning assisted by Domain Knowledge: an Application to Gas Source Localization
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Wiedemann, ThomasThomas.Wiedemann (at) dlr.deUNSPECIFIED
Vlaicu, Cosmincosmin.vlaicu (at) tum.deUNSPECIFIED
Josifovski, Josipjosip.josifovski (at) tum.deUNSPECIFIED
Viseras Ruiz, AlbertoAlberto.ViserasRuiz (at) dlr.deUNSPECIFIED
Date:18 January 2021
Journal or Publication Title:IEEE Access
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1109/ACCESS.2021.3052024
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2169-3536
Status:Published
Keywords:gas source localization, information gathering, reinforcement learning, mobile robot, deep learning
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Project Navigation 4.0 (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Wiedemann, Thomas
Deposited On:02 Feb 2021 16:18
Last Modified:02 Feb 2021 16:18

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.