Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

A Self-Designing Method of Behaviors in Behavior-Based Robotics

행위 기반 로봇에서의 행위의 자동 설계 기법

  • Published : 2002.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

An automatic design method of behaviors in behavior-based robotics is proposed. With this method, a robot can design its behaviors by itself without aids of human designer. Automating design procedure of behaviors can make the human designer free from somewhat tedious endeavor that requires to predict all possible situations in which the robot will work and to design a suitable behavior for each situation. A simple reinforcement learning strategy is the main frame of this method and the key parameter of the learning process is significant change of reward value. A successful application to mobile robot navigation is reported too.

Keywords

References

  1. R.C. Arkin, Behavior-Based Robotics, The MIT Press, Cambridge, 1998
  2. R.A. Brooks, 'A robust layered control system for a mobile robot,' IEEE J Robotics and Automation, vol. RA-2, no. 1, pp. 14-23. 1986
  3. R.C. Arkin, 'Towards cosmopolitan robots : Intelligent navigation in extended man-made environments,' Ph.D Dissertation, COINS Tech. Rpt., 87-80, Univ. of Massachusetts, Dept. of Computer and Information Science, pp. 143-177, 1987
  4. P. Maes, 'The dynamics of action selection,' Proc. Int. Joint Coif on Artificial Intelligence, Detroit, MI, pp. 991-997, 1989
  5. A. Saffiotti, K. Konolige, and E. Ruspini, 'A multivalued logic approach to integrating planning and control,' Artificial Intelligence 76, pp. 481-526, 1995 https://doi.org/10.1016/0004-3702(94)00088-I
  6. R.J. Williams, 'Simple statistical gradient-following algorithms for connectionist reinforcement learning,' Machine Learning, 8, pp. 229-256, 1992 https://doi.org/10.1007/BF00992696
  7. C. J. C. H. Watkins, and P. Dayan, 'Technical note Q-learning,' Machine Learning, 8, pp. 279-292, 1992 https://doi.org/10.1007/BF00992698
  8. Y. Koren and J. Borenstein, 'Potential field methods and their inherent limitations for mobile robot navigation,' Proc. IEEE Int. Conf. Robotics and Automation, Sacramento, CA, pp. 1398-1404, 1991 https://doi.org/10.1109/ROBOT.1991.131810
  9. A. Mukerjee and A. D. Mali, 'Reactive robots and amnesics: A comparative study in memoryless behavior,' IEEE Trans. Systems, Man, and Cybernetics, Part C: Applications and Reviews, vol: 292 , pp. 216 -226, May 1999 https://doi.org/10.1109/5326.760566
  10. D. A. Pucknell, Fundamentals of Digital Logic Design with VLSI Circuit Applications, Prentice Hall of Australia Pty Ltd, Sydney, Australia, 1990