Clustering of Memory Sequence for Particle Filter on Episode

Abstract

We add a clustering method to Particle Filter on Epsiode (PFoE), which is a teach-and-replay method for a robot. The clustering method is used for classification of similar sensor data on the memory sequence obtained in the teaching phase. The improved PFoE is more robust toward the noise of motion and sensor information than the previous PFoE. That is because the classification result gives the information which phase in the replaying task the robot performs. The difference between the proposed and previous methods are compared by a task with an actual robot.