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|Title:||Continuous-spaced action selection for single- and multi-robot tasks using cooperative extended Kohonen maps|
|Authors:||Low, K.H. |
Ang Jr., M.H.
|Citation:||Low, K.H.,Leow, W.K.,Ang Jr., M.H. (2004). Continuous-spaced action selection for single- and multi-robot tasks using cooperative extended Kohonen maps. Conference Proceeding - IEEE International Conference on Networking, Sensing and Control 1 : 198-203. ScholarBank@NUS Repository.|
|Abstract:||Action selection is a central issue in the design of behavior-based control architectures for autonomous mobile robots. This paper presents an action selection framework based on an assemblage of self-organizing neural networks called Cooperative Extended Kohonen Maps. This framework encapsulates two features that significantly enhance a robot's action selection capability: self-organization in the continuous state and action spaces to provide smooth, efficient and fine motion control; action selection via the cooperation and competition of Extended Kohonen Maps so that more complex motion tasks can be achieved. Qualitative and quantitative comparisons for both single- and multi-robot motion tasks show that our framework can provide better action selection than do action superposition methods.|
|Source Title:||Conference Proceeding - IEEE International Conference on Networking, Sensing and Control|
|Appears in Collections:||Staff Publications|
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