TY - GEN
T1 - A brain-machine interface to navigate mobile robots along human-like paths amidst obstacles
AU - Akce, Abdullah
AU - Norton, James
AU - Bretl, Timothy
PY - 2012
Y1 - 2012
N2 - This paper presents an interface that allows a human user to specify a desired path for a mobile robot in a planar workspace with noisy binary inputs that are obtained at low bit-rates through an electroencephalograph (EEG). We represent desired paths as geodesics with respect to a cost function that is defined so that each path-homotopy class contains exactly one (local) geodesic. We apply max-margin structured learning to recover a cost function that is consistent with observations of human walking paths. We derive an optimal feedback communication protocol to select a local geodesic - equivalently, a path-homotopy class - using a sequence of noisy bits. We validate our approach with experiments that quantify both how well our learned cost function characterizes human walking data and how well human subjects perform with the resulting interface in navigating a simulated robot with EEG.
AB - This paper presents an interface that allows a human user to specify a desired path for a mobile robot in a planar workspace with noisy binary inputs that are obtained at low bit-rates through an electroencephalograph (EEG). We represent desired paths as geodesics with respect to a cost function that is defined so that each path-homotopy class contains exactly one (local) geodesic. We apply max-margin structured learning to recover a cost function that is consistent with observations of human walking paths. We derive an optimal feedback communication protocol to select a local geodesic - equivalently, a path-homotopy class - using a sequence of noisy bits. We validate our approach with experiments that quantify both how well our learned cost function characterizes human walking data and how well human subjects perform with the resulting interface in navigating a simulated robot with EEG.
UR - http://www.scopus.com/inward/record.url?scp=84872341038&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2012.6386024
DO - 10.1109/IROS.2012.6386024
M3 - Conference contribution
AN - SCOPUS:84872341038
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4084
EP - 4089
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -