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A kind of recurrent fuzzy cerebellar model articulation controller (RFCMAC) model is presented. The recurrent network is embedded in the RFCMAC by adding feedback connections on the first layer to embed temporal relations in the network. A nonconstant differentiable Gaussian basis function is used to model the hypercube structure and the fuzzy weight. A gradient descent learning algorithm is used...
One of the challenges of SLAM (simultaneous localization and mapping) for autonomous robots is the loop closing problem. In this paper, a decision-theoretic active loop closing approach is presented, which integrates the exploration planning with loop closing. In our approach, the active loop closing process is modeled as a multi-stage decision problem, and a frontier-based auxiliary topological map...
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