Stochastic Bayesian Computation for Autonomous Robot Sensorimotor System

Marvin Faix 1, 2, 3 Jorge Lobo 4 Raphael Laurent 5 Dominique Vaufreydaz 1, 2, 3 Emmanuel Mazer 1, 3
3 PRIMA - Perception, recognition and integration for observation of activity
Inria Grenoble - Rhône-Alpes, UJF - Université Joseph Fourier - Grenoble 1, INPG - Institut National Polytechnique de Grenoble , CNRS - Centre National de la Recherche Scientifique : UMR5217
Abstract : This paper presents a stochastic computing implementation of a Bayesian sensorimotor system that performs obstacle avoidance for an autonomous robot. In a previous work we have shown that we are able to automatically design a probabilistic machine which computes inferences on a Bayesian model using stochastic arithmetic. We start from a high level Bayesian model description, then our compiler generates an electronic circuit, corresponding to the probabilistic inference, operating on stochastic bit streams. Our goal in this paper is to show that our compilation toolchain and simulation device work on a classic robotic application, sensor fusion for obstacle avoidance. The novelty is in the way the computations are implemented, opening the way for future low power autonomous robots using such circuits to perform Bayesian Inference.
Document type :
Conference papers
Complete list of metadatas

Cited literature [18 references]  Display  Hide  Download

https://hal.inria.fr/hal-01265559
Contributor : Dominique Vaufreydaz <>
Submitted on : Friday, July 1, 2016 - 10:47:11 AM
Last modification on : Tuesday, February 26, 2019 - 1:25:05 AM
Long-term archiving on : Sunday, October 2, 2016 - 11:10:39 AM

File

stochastic-bayesian-computatio...
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01265559, version 1

Collections

LIG | INRIA | UGA

Citation

Marvin Faix, Jorge Lobo, Raphael Laurent, Dominique Vaufreydaz, Emmanuel Mazer. Stochastic Bayesian Computation for Autonomous Robot Sensorimotor System. Workshop on Unconventional Computing for Bayesian Inference (UCBI) at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hambourg, Germany. ⟨hal-01265559⟩

Share

Metrics

Record views

417

Files downloads

288