Enhancing navigation of autonomous mobile robots through permanent federated learning
Автор: Al-khafaji I.M.A., Alisawi W.Ch., Ibraheem M.Kh.I., Djuraev H.A., Panov A.V.
Рубрика: Информатика и вычислительная техника
Статья в выпуске: 3, 2023 года.
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Deep learning is crucial for advancing artificial intelligence in robotics. Deep learning enables autonomous robots to perceive and control their environment. Federated learning allows distributed robots to train models while maintaining privacy. This paper focuses on using FL to overcome vision-based obstacles in mobile robotic navigation. We evaluate FL’s performance in both simulated and real-world environments. Our research compares FL’s multiple image classifiers to cloud-based central learning using existing data. We also implement a continuous learning system on mobile bots with autonomous data generation. Training models in simulation and reality improves accuracy and enables continuous model updates.
Federated learning, robot navigation, continuous learning, obstacle avoidance, efficientnet, lifelong learning, privacy
Короткий адрес: https://sciup.org/148327118
IDR: 148327118 | DOI: 10.18137/RNU.V9187.23.03.P.119
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