Comparison of Behavior-based and Planning Techniques on the Small Robot Maze Exploration Problem

0345013 - ÚI 2011 RIV GB eng J - Journal Article
Slušný, Stanislav - Neruda, Roman - Vidnerová, Petra
Comparison of Behavior-based and Planning Techniques on the Small Robot Maze Exploration Problem.
Neural Networks. Roč. 23, č. 4 (2010), s. 560-567. ISSN 0893-6080. E-ISSN 1879-2782.
[ICANN 2008. International Conference on Artificial Neural Networks /18./. Prague, 03.09.2008-06.09.2008]
R&D Projects: GA ČR GA201/08/1744
Institutional research plan: CEZ:AV0Z10300504
Keywords : evolutionary robotics * neural networks * reinforcement learning * localization
Subject RIV: IN - Informatics, Computer Science
Impact factor: 1.955, year: 2010

A comparison of behavior-based and planning approaches of robot control is presented in this paper. We focus on miniature mobile robotic agents with limited sensory abilities. Two reactive control mechanisms for an agent are considered—a radial basis function neural network trained by evolutionary algorithm and a traditional reinforcement learning algorithm over a finite agent state space. The control architecture based on localization and planning is compared to the former method.
Permanent Link: http://hdl.handle.net/11104/0186393