1999, English, Article edition: Reactive Navigation of a Mobile Robot Using a Hierarchical Set of Learning Agents Davesne, Frédéric; Barret, Claude

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Bookmark: http://trove.nla.gov.au/version/202579
Physical Description
  • text
Published
  • HAL - CCSD
  • 1999
Language
  • English

Edition details

Title
  • Reactive Navigation of a Mobile Robot Using a Hierarchical Set of Learning Agents
Author
  • Davesne, Frédéric
  • Barret, Claude
Published
  • HAL - CCSD
  • 1999
Physical Description
  • text
Subjects
Notes
  • Within the context of learning sequences of basic tasks to build a complex behavior, a method is proposed which uses a hierarchical set of incrementally learning agents. Each one has to respect a particular perceptive constraint. To do so, an agent must choose either to execute basic tasks or to call another agent in order to use its decision-making competences, according to its perception. The learning procedure of each agent is achieved by a reinforcement learning inspired algorithm based on an heuristic which does not need internal parameters. A validation of the method is given, using a simulated Khepera robot. A hierarchical set of 4 agents is created. Each one is dedicated to the exploitation of particular perceptive data. They use 5 basic tasks in order to achieve a goal-reaching behavior which is formulated by a high level strategy composed of logical rules using perceptive primitives.
  • HAL:hal-00343201, version 1
  • HAL:http:/​/​hal.archives-ouvertes.fr/​hal-00343201/​en/​
  • DOI:10.1109/​IROS.1999.813050
Language
  • English
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