Efficient learning of reactive robot behaviors with a Neural-Q_learning approach

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dc.contributor.author Carreras Pérez, Marc
dc.contributor.author Ridao Rodríguez, Pere
dc.contributor.author Batlle i Grabulosa, Joan
dc.contributor.author Nicosevici, Tudor
dc.date.issued 2002
dc.identifier.citation Carreras, M., Ridao, P. , Batlle, J., i Nicosevici, T. (2002). Efficient learning of reactive robot behaviors with a Neural-Q_learning approach. IEEE/RSJ International Conference on Intelligent Robots and Systems, 1, 1020-1025. Recuperat 05 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1041525
dc.identifier.isbn 0-7803-7398-7
dc.identifier.uri http://hdl.handle.net/10256/2163
dc.description.abstract The purpose of this paper is to propose a Neural-Q_learning approach designed for online learning of simple and reactive robot behaviors. In this approach, the Q_function is generalized by a multi-layer neural network allowing the use of continuous states and actions. The algorithm uses a database of the most recent learning samples to accelerate and guarantee the convergence. Each Neural-Q_learning function represents an independent, reactive and adaptive behavior which maps sensorial states to robot control actions. A group of these behaviors constitutes a reactive control scheme designed to fulfill simple missions. The paper centers on the description of the Neural-Q_learning based behaviors showing their performance with an underwater robot in a target following task. Real experiments demonstrate the convergence and stability of the learning system, pointing out its suitability for online robot learning. Advantages and limitations are discussed
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher IEEE
dc.relation.isformatof Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IRDS.2002.1041525
dc.relation.ispartof © IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, vol. 1, p. 1020-1025
dc.relation.ispartofseries Articles publicats (D-ATC)
dc.rights Tots els drets reservats
dc.subject Intel·ligència artificial
dc.subject Robots mòbils
dc.subject Xarxes neuronals (Informàtica)
dc.subject Artificial intelligence
dc.subject Neural networks (Computer science)
dc.subject Mobile robots
dc.title Efficient learning of reactive robot behaviors with a Neural-Q_learning approach
dc.type info:eu-repo/semantics/article
dc.identifier.doi http://dx.doi.org/10.1109/IRDS.2002.1041525


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