Universität Bielefeld Electronic Collections animiertes Foto Universität Bielefeld

Access to the Document



Task Segmentation in a Mobile Robot by mnSOM and Hierarchical Clustering

Muslim, Muhammad Aziz ; Ishikawa, Masumi ; Furukawa, Tetsuo



Download file

Abstract:
Our previous studies assigned labels to mnSOM modules based on the assumption that winner modules corresponding to subsequences in the same class share the same label. We propose segmentation using hierarchical clustering based on the resulting mnSOM. Since it does not need the above unrealistic assumption, it gains practical importance at the sacrifice of the deterioration of the segmentation performance by 1.2%. We compare the performance of task segmentation for two kinds of module architecture in mnSOM. The result is that module architecture with sensory-motor signals as target outputs has superior performance to that with only sensory signals as target outputs.


Keywords: mnSOM, task segmentation, hierarchical clustering
Institution: Faculty of Technology, Research Groups in Informatics
DDC classification: Data processing, computer science, computer systems

Suggested Citation:
Muslim, Muhammad Aziz ; Ishikawa, Masumi ; Furukawa, Tetsuo  (2007)  Task Segmentation in a Mobile Robot by mnSOM and Hierarchical Clustering.


URL: http://biecoll.ub.uni-bielefeld.de/volltexte/2007/171



 Questions or comments: publikationsdienste.ub@uni-bielefeld.de
 Latest update: 15 Feb 2011
 Legal Notice
OPUS-Logo     OAI compliant      BU Logo
OAI-Logo