Deep-learning in Mobile Robotics - from Perception to Control Systems: A Survey on Why and Why not

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Deep-learning has dramatically changed the world overnight. It greatly boosted the development of visual perception, object detection, and speech recognition, etc. That was attributed to the multiple convolutional processing layers for abstraction of learning representations from massive data. The advantages of deep convolutional structures in data processing motivated the applications of artificial intelligence methods in robotic problems, especially perception and control system, the two typical and challenging problems in robotics. This paper presents a survey of the deep-learning research landscape in mobile robotics. We start with introducing the definition and development of deep-learning in related fields, especially the essential distinctions between image processing and robotic tasks. We described and discussed several typical applications and related works in this domain, followed by the benefits from deep-learning, and related existing frameworks. Besides, operation in the complex dynamic environment is regarded as a critical bottleneck for mobile robots, such as that for autonomous driving. We thus further emphasize the recent achievement on how deep-learning contributes to navigation and control systems for mobile robots. At the end, we discuss the open challenges and research frontiers.

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