Controlling a simulated Khepera with an XCS classifier system with memory.

Webb, Andrew, Hart, Emma, Ross, Peter and Lawson, Alistair (2003) Controlling a simulated Khepera with an XCS classifier system with memory. In: 7th European Conference on Artificial Life, ECAL 2003: Advances in Artificial Life, 14-17th September 2003, Dortmund, Germany.

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Autonomous agents commonly suffer from perceptual aliasing in which differing situations are perceived as identical by the robots sensors, yet require different courses of action. One technique for addressing this problem is to use additional internal states within a reinforcement learning system, in particular a learning classifier system. Previous research has shown that adding internal memory states can allow an animat within a cellular world to successfully navigate complex mazes. However, the technique has not previously been applied to robotic environments in which sensory data is noisy and somewhat unpredictable. We present results of using XCS with additional internal memory in the simulated Khepera environment, and show that control rules can be evolved to allow the robot to navigate a variety of problems.

Item Type: Conference or Workshop Item (Paper)
Print ISSN: 0302-9743
ISBN: 9783540200574
Electronic ISSN: 1611-3349
Uncontrolled Keywords: Robot sensors; Internal memory states; Khepera environments
University Divisions/Research Centres: Faculty of Engineering, Computing and Creative Industries > School of Computing
Dewey Decimal Subjects: 000 Computer science, information & general works > 000 Computer science, knowledge & systems > 006 Special Computer Methods
600 Technology > 620 Engineering > 629 Vehicle engineering
Library of Congress Subjects: T Technology > T Technology (General)
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Item ID: 1759
Depositing User: RAE Import
Date Deposited: 22 Jul 2008 15:42
Last Modified: 10 Feb 2016 16:43

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