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Comparison of Behavior-based and Planning Techniques on the Small Robot Maze Exploration Problem
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SYSNO ASEP 0345013 Document Type J - Journal Article R&D Document Type Journal Article Subsidiary J Článek ve WOS Title Comparison of Behavior-based and Planning Techniques on the Small Robot Maze Exploration Problem Author(s) Slušný, Stanislav (UIVT-O)
Neruda, Roman (UIVT-O) SAI, RID, ORCID
Vidnerová, Petra (UIVT-O) RID, SAI, ORCIDSource Title Neural Networks. - : Elsevier - ISSN 0893-6080
Roč. 23, č. 4 (2010), s. 560-567Number of pages 8 s. Action ICANN 2008. International Conference on Artificial Neural Networks /18./ Event date 03.09.2008-06.09.2008 VEvent location Prague Country CZ - Czech Republic Event type WRD Language eng - English Country GB - United Kingdom Keywords evolutionary robotics ; neural networks ; reinforcement learning ; localization Subject RIV IN - Informatics, Computer Science R&D Projects GA201/08/1744 GA ČR - Czech Science Foundation (CSF) CEZ AV0Z10300504 - UIVT-O (2005-2011) UT WOS 000277227900012 EID SCOPUS 77950252122 DOI 10.1016/j.neunet.2010.02.001 Annotation 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. Workplace Institute of Computer Science Contact Tereza Šírová, sirova@cs.cas.cz, Tel.: 266 053 800 Year of Publishing 2011
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