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https://scholarbank.nus.edu.sg/handle/10635/43335
Title: | Continuous-spaced action selection for single- and multi-robot tasks using cooperative extended Kohonen maps | Authors: | Low, K.H. Leow, W.K. Ang Jr., M.H. |
Issue Date: | 2004 | 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 | URI: | http://scholarbank.nus.edu.sg/handle/10635/43335 | ISBN: | 0780381939 |
Appears in Collections: | Staff Publications |
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