Towards the Use of Programming without Coding for Navigation Tasks

Learning from Demonstration is a powerful method that allows robots to acquire skills from humans through imitation. There are several strategies in the literature for teaching robots manipulation tasks. However, the aim of this paper is to propose a preliminary study on the possibility of teaching a mobile robot navigation tasks using a single demonstration. To this end, we employed a framework, based on Dynamic Movement Primitives, which has already been proven effective in manipulation tasks. We tried to adapt it to our scenario, taking into account the differences between the two types of tasks. Our approach was validated in a simulated environment with a mobile base equipped with a 2-D laser scan. Preliminary results seem to confirm that it is possible to extend that framework to navigation tasks.