Learning with ALiCE II
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Date
2007-09-14T17:13:30Z
Authors
Lockery, Daniel Alexander
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Abstract
The problem considered in this thesis is the development of an autonomous prototype robot capable of gathering sensory information
from its environment allowing it to provide feedback on the condition of specific targets to aid in maintenance of hydro equipment. The context for the solution to this problem is based on the power grid environment operated by the local hydro utility. The intent is to monitor power line structures by travelling
along skywire located at the top of towers, providing a view of everything beneath it including, for example, insulators, conductors, and towers. The contribution of this thesis is a novel robot design with the potential to prevent hazardous situations and the use of rough coverage feedback modified reinforcement learning algorithms to establish behaviours.
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Keywords
Reinforcement learning, Line crawling robot, Target tracking, Monocular vision, Rough sets, Approximation spaces, Ethology