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GA-based learning in behaviour based robotics

GA-based learning in behaviour based robotics

引用

ieee international symposium on computational intelligence in robotics and automation

作者： Gu, DB Hu, HS Reynolds, J Tsang, E Univ Essex Dept Comp Sci Colchester CO4 3SQ Essex England

ISBN: (纸本)0780378660

This paper presents a Genetic Algorithm (GA) approach to evolving robot behaviours. We use fuzzy logic controllers (FLCs) to design robot behaviours. The antecedents of the FLCs are pre-designed, while their consequences are learned using a GA. The Sony quadruped robots are used to evaluate proposed approaches in the robotic football domain. Two behaviours, ball-chasing and position-reaching, are studied and implemented. An embodied evolution scheme is adopted, by which the robot autonomously evolves its behaviours based on a layered control architecture. The results show that the robot behaviours can be automatically acquired through the GA-based learning of FLCs.

关键词： genetic algorithms evolutionary robotics fuzzy control behaviour-based robots

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A decision-theoretic approach to fuzzy behavior coordination 3

A decision-theoretic approach to fuzzy behavior coordination

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3rd ieee international symposium on computational intelligence in robotics and automation, cira 1999

作者： Pirjanian, Paolo Matarić, Maja USC Robotics Research Laboratory University of Southern California Los AngelesCA90089-0781 United States

ISBN: (纸本)0780358066

In this paper, we propose a novel approach to behavior-based control, which combines fuzzy logic with multiple objective decision theory. Fuzzy logic provides powerful tools for formulating sophisticated behavior-based systems for robot control. However, it suffers from problems associated with resolving behavioral conflicts, which are mainly due to the deficiencies of fuzzy inferencing techniques. Hence we propose to formulate the inferencing mechanism using a multiple objective decision-theoretic approach, which provides formal tools for behavior coordination and resolving conflicts in a principled manner. Preliminary experimental results are reported. © 1999 ieee.

关键词： Fuzzy logic

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Using sensory-motor phase-plots to characterise robot-environment interactions

Using sensory-motor phase-plots to characterise robot-enviro...

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2005 ieee international symposium on computational intelligence in robotics and automation cira 2005

作者： Mirza, Naeem Assif Nehaniv, Chrystopher L. Dautenhahn, Kerstin Te Boekhorst, René Adaptive Systems Research Group School of Computer Science University of Hertfordshire Hatfield Hertfordshire AL10 9AB United Kingdom

Information theoretic methods are used to characterise and identify robot-environment interactions, with a view to using these to build an embodied interaction history from the robot's perspective. A bottom-up approach is taken using uninterpreted raw sensor and motor data. Interactions are analysed by calculating the Average Information Distance (AID) between all sensors and motors over a moving time window and used to create 2-dimensional "phase-plots" that can be thought of as describing the current interaction. Sensor-Motor AID Phase-plots are shown to be able to distinguish simple behaviours among a sequence of behaviours. © 2005 ieee.

关键词： robotics

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Morphology and material property of a biped robot

Morphology and material property of a biped robot

引用

ieee international symposium on computational intelligence in robotics and automation

作者： Matsushita, K Yokoi, H Pfeifer, R Univ Zurich Artificial Intelligence Lab CH-8006 Zurich Switzerland

ISBN: (纸本)0780378660

In this paper, a biped robot is introduced, which is an instantiation of the principle of cheap design. The proposed biped robot is a light-weight skeleton-actuation mechanism with I I DOF motors, elastic limbs, and tendon-supported joints. The sensor system of this robot is comprised of pressure sensors on the sole and a posture sensor at the hip position. An adaptive neural oscillator is employed as a controller. This paper presents some preliminary analysis of a biped robot exploiting elastic materials. The goal of this research is to explore principles of bipedal locomotion in the context of elastic materials. The experimental result shows such non-linearity of elastic material has a significant relation to the locomotion.

关键词： morphology cheap design principle biped robot attractor non-linearity

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Communication-efficient dynamic task scheduling for heterogeneous multi-robot systems

Communication-efficient dynamic task scheduling for heteroge...

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2007 ieee international symposium on computational intelligence in robotics and automation, cira 2007

作者： Shah, Kashyap Yan, Meng IEEE Department of Electrical and Computer Engineering Stevens Institute of Technology Hoboken NJ 07030 United States

ISBN: (纸本)1424407907

In this paper, a communication-efficient dynamic task scheduling algorithm for a heterogeneous multi-robot system is proposed. To make this task scheduling algorithm to be scalable for various robot teams, a distributed communication with shared global unit mechanism is applied to reduce the storage cost as well as communication overhead. Each robot makes its own decision through communicating with others as well as checking a global unit. This algorithm improves its efficiency by broadcasting specific information only to those who are capable and have interest in the current tasks. To improve the system robustness, an auction-based fitness function is applied to dynamically allocate the tasks among the robots if the pre-assigned robot can not handle the task or a robot fails under dynamic environment. The proposed approach is robust against communication failures and robot failures. Simulation results demonstrate the efficiency and robustness of the proposed approach. © 2007 ieee.

关键词： Robots

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Motion planning for digital humans

Motion planning for digital humans

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2003 ieee international symposium on computational intelligence in robotics and automation, cira 2003

作者： Kuffner, James Chestnutt, Joel Kagami, Satoshi Latombe, Jean-Claude Nishiwaki, Koichi Hodgins, Jessica LaValle, Steve Inaba, Masayuki Yamane, Katsu Inoue, Hirochika Robotics Institute Carnegie Mellon University Dept. of Computer Science 5000 Forbes Ave. PittsburghPA15213 United States 2-41-6 Oumi Kouto-ku Tokyo113-0064 Japan

ISBN: (纸本)0780378660

Research efforts are underway to develop sophisticated computer models of human physiology, biomechanics, and appearance. Applications of these "digital humans" range from medical research to virtual reality entertainment. This paper presents an overview of several motion planning techniques for automatically generating motion trajectories for digital humans. The ultimate goal is to create autonomous animated characters that are able to move naturally and realistically in response to high-level task commands. These "digital human" characters can be viewed as "virtual robots" operating in simulated environments, since developing software to control such characters shares much in common with programming real robots. Experimental results involving both simulated human characters and real humanoid robots are shown. © 2003 ieee.

关键词： Motion planning

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A motion compression method by fuzzy relational equations

A motion compression method by fuzzy relational equations

引用

ieee international symposium on computational intelligence in robotics and automation

作者： Nobuhara, H Hirota, K Tokyo Inst Technol Dept Computat Intelligence & Syst Sci Tokyo 152 Japan

ISBN: (纸本)0780378660

A motion compression method by max t-norm composite fuzzy relational equations (MCF) is proposed. In the case of MCF, a motion sequence is divided into intra,pictures (I-pictures) and predictive-pictures (P-pictures). The I-pictures and the P-pictures are compressed by using uniform coders and non-uniform coders, respectively. In order to perform an effective compression and reconstruction of the P-pictures, a design method of non-uniform coders is proposed. The proposed design method is based on an overlap level of fuzzy sets and a fuzzy equalization. Through an experiment using 10 P-pictures, it is confirmed that the root means square errors of the proposed method is decreased to 89.4% of the uniform coders, under the condition that the compression rate is 0.0057. A result of motion compression and reconstruction of motion (standard motion imagery) by MCF is also presented.

关键词： Design

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Unmanned ground vehicle state estimation using an unmanned air vehicle

Unmanned ground vehicle state estimation using an unmanned a...

引用

international symposium on computational intelligence in robotics and automation

作者： MacArthur, Donald K. Crane, Carl D. Innovative Automation Technologies LLC Gainesville FL Center for Intelligent Machines and Robotics Mechanical and Aerospace Engineering University of Florida

ISBN: (纸本)9781424407897

Unmanned Air Vehicles (UAVs) have several advantages and disadvantages compared with Unmanned Ground Vehicles (UGVs). Both systems have different mobility and perception abilities. UAV systems have extended perception, tracking, and mobility capabilities compared with UGVs. UGVs have more intimate mobility and manipulation capabilities. This paper presents the research that has been conducted in the collaboration of UAVs and UGVs. This research demonstrates the use of a passive UAV system for tracking and state estimation of a UGV. This paper presents the UAV sensors and avionics, the algorithms for combining the UGV kinematics equations, and the geo-positioning algorithms used on the UAV to form a robust UGV state estimation. Experimental results are presented.

关键词： Ground vehicles

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Illuminance measurement and SLAM of a mobile robot based on computational intelligence

Illuminance measurement and SLAM of a mobile robot based on ...

引用

international symposium on computational intelligence in robotics and automation

作者： Sasaki, Hironobu Kubota, Naoyuki Taniguchi, Kazuhiko Nogawa, Yasutsugu Tokyo Metropolitan Univ Dept Syst Design 6-6 Asahigaoka Tokyo 1910065 Japan Kinden Corp Kyoto R & D Ctr Kyoto 6190223 Japan

ISBN: (纸本)9781424407897

This paper proposes self-localization and map building methods based on a steady-state genetic algorithm and self organizing map for a mobile robot used for illuminance measurement. According to the measured distance by a laser range finder, the map is updated sequentially. When the difference between the self-position on the building map and the estimated self-position baesd on the measured distance is larger than the predefined threshold, the proposed method corrects the self-location and updates the map to be more accurate. Finally we show experimental results of the proposed method.

关键词： Mobile robots

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A behavior monitoring architecture for a mobile robot: Enhancing intelligence to behavior-based robotics

A behavior monitoring architecture for a mobile robot: Enhan...

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ieee international symposium on computational intelligence in robotics and automation

作者： Suksakulchai, S Wilkes, DM Kawamura, K King Mongkuts Univ Technol Thonburi Thailand

ISBN: (纸本)0780378660

This paper presents a new behavior-based architecture for a mobile robot. The architecture coordinates behaviors based on a robot's internal condition and environment information. This approach combines the subsumption and schema-based approaches together with a unique feature called Request or Redundant Mode. By monitoring a behavior's expected outcome, an unproductive behavior can request its redundant behavior to take over a task. On the other hand, when the requesting behavior can do the task again, it can take the task back. The results show that a system with the new architecture yields better performance than a system without it. Moreover, the new architecture can change behaviors' levels and modes, add new behaviors, delete unused behaviors, and create new behaviors or tasks from existing behaviors at run-time, without reprogramming or restarting the entire system.

关键词： pain value strength value hybrid architecture behavior monitoring redundant behavior

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