Eric Aislan Antonelo

Eric Aislan Antonelo

Post-doc

eric.antonelo [AT] UGent.be
+32 9 264 34 04 (phone)
+32 9 264 35 94 (fax)

Parallel Information Systems (PARIS) group
Electronics and Information Systems (ELIS) department
Ghent University
Sint Pietersnieuwstraat 41
9000 Ghent
Belgium
Sponsored by the Special Research Fund (BOF, Bijzonder Onderzoeksfonds)
 

Research Project


The research in this Ph.D. thesis is a step towards creating intelligent autonomous mobile robots with abstract reasoning capabilities using a limited number of very simple raw noisy sensory signals, such as distance sensors. The basic assumption is that the low-dimensional sensory signal can be projected into a high-dimensional dynamic space where learning and computation is performed by linear methods (such as linear regression), overcoming sensor aliasing problems commonly found in robot navigation tasks. This form of computation is known in the literature as Reservoir Computing (RC). The Echo State Network is a particular RC model used in this work, which is characterized by having the high-dimensional space implemented by a discrete analog recurrent neural network with fading memory properties.

This thesis proposes a number of Reservoir Computing architectures which can be used in a variety of autonomous navigation tasks, by modeling implicit abstract representations of an environment and navigation behaviors which can be sequentially executed in the physical environment or simulated as a plan in deliberative goal-directed tasks.

PDF: Reservoir Computing Architectures for Modeling Robot Navigation Systems

 

 


Personal Interests


Apart from research in machine learning, I am interested in: politics, web technologies and frameworks (RoR), entrepreneurship.

I also have a special interest in Drupal, one of the open-source technologies I used for my website Imohoo, a crawler of real estate properties. (in Portuguese).

Currently I am getting interested in statistical learning methods.




Contact person for Projects:

Title Type Project year
Omni wheel robot HOP 2010
Autonomous Robot Localization using Reservoir Computing Master thesis 2008
Autonomous Mobile Robot Navigation using Reservoir Computing (Behavior/Task Switching) Master thesis 2008

Publications


Journal papers

  1. Eric Antonelo and Benjamin Schrauwen Learning slow features with reservoir computing for biologically-inspired robot localization NEURAL NETWORKS, pp. (2011)
  2. Eric Antonelo, Benjamin Schrauwen and Dirk Stroobandt Event detection and localization for small mobile robots using reservoir computing NEURAL NETWORKS, Vol. 21(6), pp. 862-871 (2008)
  3. Eric Antonelo, Benjamin Schrauwen and Jan Van Campenhout Generative Modeling of Autonomous Robots and their Environments using Reservoir Computing Neural Processing Letters, Vol. 26(3), pp. 233-249 (2007)

Conference publications

  1. Eric Antonelo, Stefan Depeweg and Benjamin Schrauwen Learning navigation attractors for mobile robots with reinforcement learning and reservoir computing Computational Intelligence, 10th Brazilian congress, Proceedings, pp. (2011)
  2. Eric Antonelo and Benjamin Schrauwen Supervised learning of internal models for autonomous goal-oriented robot navigation using Reservoir Computing IEEE International conference on Robotics and Automation, Proceedings, pp. 6 (2010)
  3. Eric Antonelo and Benjamin Schrauwen On different learning approaches with echo state networks for localization of small mobile robots Congresso Brasileiro de Redes Neurais, 9th, Proceedings, pp. (2009)
  4. Eric Antonelo and Benjamin Schrauwen Unsupervised learning in reservoir computing : modeling hippocampal place cells for small mobile robots LECTURE NOTES IN COMPUTER SCIENCE, Vol. 5768, pp. 747-756 (2009)
  5. Eric Antonelo and Benjamin Schrauwen Towards autonomous self-localization of small mobile robots using reservoir computing and slow feature analysis IEEE International conference on Systems, Man, and Cybernetics, Conference digest, Vol. 2, pp. (2009)
  6. Tim Waegeman, Eric Antonelo, Francis wyffels and Benjamin Schrauwen Modular reservoir computing networks for imitation learning of multiple robot behaviors IEEE International Symposium on Computational Intelligence in Robotics and Automation, 8th, Proceedings, pp. 27-32 (2009)
  7. Eric Antonelo, Benjamin Schrauwen and Dirk Stroobandt Modeling Multiple Autonomous Robot Behaviors and Behavior Switching with a Single Reservoir Computing Network Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, pp. 1843-1848 (2008)
  8. Eric Antonelo, Benjamin Schrauwen and Dirk Stroobandt Mobile Robot Control in the Road Sign Problem using Reservoir Computing Networks Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 911-916 (2008)
  9. Eric Antonelo, Benjamin Schrauwen and Dirk Stroobandt Imitation Learning of an Intelligent Navigation System for Mobile Robots using Reservoir Computing Proceedings of the 10th Brazilian Symposium on Neural Networks (SBRN`2008), pp. 93-98 (2008)
  10. Eric Antonelo, Xavier Dutoit, Benjamin Schrauwen, Dirk Stroobandt, Hendrik Van Brussel and Marnix Nuttin A Step Towards Autonomy in Robotics via Reservoir Computing NIPS 2007 Workshop: Robotics Challenges for Machine Learning, pp. (2007)
  11. Eric Antonelo, Benjamin Schrauwen and Dirk Stroobandt Experiments with Reservoir Computing on the road sign problem Proceedings of the VIII Brazilian Congress on Neural Networks (CBRN), pp. digitaal (2007)
  12. Eric Antonelo, Benjamin Schrauwen, Xavier Dutoit, Dirk Stroobandt and Marnix Nuttin Event detection and localization in mobile robot navigation using reservoir computing Proceedings of the International Conference on Artificial Neural Networks (ICANN), pp. 660-669 (2007)
  13. Eric Antonelo, Albert-Jan Baerveldt, Thorsteinn Rognvaldsson and Mauricio Figueiredo Modular Neural Network and Classical Reinforcement Learning for Autonomous Robot Navigation: Inhibiting Undesirable Behaviors Proceedings of the IEEE International Joint Conference on Neural Networks (IJCNN), pp. 1225-1232 (2006)
  14. Rodrigo Calvo, Mauricio Figueiredo and Eric Antonelo Evolutionary fuzzy system for architecture control in a constructive neural network Proceedings of the 6th IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. (2005)
  15. Eric Antonelo, Mauricio Figueiredo, Albert-Jan Baerlveldt and Rodrigo Calvo Intelligent autonomous navigation for mobile robots: spatial concept acquisition and object discrimination Proceedings of the 6th IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), pp. 553-557 (2005)
  16. Eric Antonelo and Mauricio Figueiredo Autonomous intelligent systems applied to robot navigation: spatial concept acquisition and object discrimination Proceedings of the 2nd National Meeting of Intelligent Robotics (II ENRI) in the Congress of the Brazilian Computer Society (in Portuguese), pp. (2004)
  17. Eric Antonelo and Mauricio Figueiredo Neural structures for modeling of biological declarative memory applied to robot autonomous navigation systems Proceedings of the 4th Forum of Informatics and Technology of Maring�� (FITEM) (in Portuguese), pp. (2002)

Other publications

  1. Eric Antonelo Reservoir computing voor het modelleren van robotnavigatiesystemen pp. (2011)
  2. Eric Antonelo A Neural Reinforcement Learning Approach for Behavior Acquisition in Intelligent Autonomous Systems Master thesis, Halmstad University, pp. (2006)