Abstract
This paper proposes a novel hierarchical multi-layer decision tree for representing reactive robot navigation knowledge. In this representation, the perception space is decomposed into a hierarchical set of worlds reflecting environments which are homogeneous in nature and which vary in complexity in an ordered manner. Each world is used to produce a corresponding decision tree which is trained incrementally. The instantaneous perception of the robot is used to select an appropriate rule from the decision tree and a sequence of rule activations form the complete trajectory. The ability to keep the knowledge complexity manageable and under control is an important aspect of the technique.
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