Extended Markov Tracking with Ensemble Actions
Speaker: Zinovi Rabinovich, University of Southampton, UK
Egocentric Perceptual Control (EPC) is characterised by the optimality
criteria and the control task being formulated in terms of the agent's
perceptions. The particular perception we concentrate on are the
system dynamics. For instance, if we travel along a road, the control
task can be formulated as "seeing that the car returns to the road's
center" -- notice the perceptual ("seeing that") and the dynamic
("returns to") elements of the task. In Markovian environments an
effective solution algorithm to the above control problem has been
developed and is called the Extended Markov Tracking (EMT) controller.
However, in spite of its relative robustness, the EMT controller is
model based and its performance deteriorates if the environment model
becomes incoherent. In this work we apply expert ensembles to augment
the environment model on-line, and recover up to 95% of the
performance lost due to model Incoherence-.