NDLI: An incremental approach to developing intelligent neural network controllers for robots

Content Provider	IEEE Xplore Digital Library
Author	Meeden, L.A.
Copyright Year	1996
Abstract	By beginning with simple reactive behaviors and gradually building up to more memory-dependent behaviors, it may be possible for connectionist systems to eventually achieve the level of planning. This paper focuses on an intermediate step in this incremental process, where the appropriate means of providing guidance to adapting controllers is explored. A local and a global method of reinforcement learning are contrasted-a special form of back-propagation and an evolutionary algorithm. These methods are applied to a neural network controller for a simple robot. A number of experiments are described where the presence of explicit goals and the immediacy of reinforcement are varied. These experiments reveal how various types of guidance can affect the final control behavior. The results show that the respective advantages and disadvantages of these two adaptation methods are complementary, suggesting that some hybrid of the two may be the most effective method. Concluding remarks discuss the next incremental steps toward more complex control behaviors.
Starting Page	474
Ending Page	485
Page Count	12
File Size	1697048
File Format	PDF
ISSN	10834419
Volume Number	26
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-06-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Intelligent robots Intelligent networks Neural networks Robot control Control systems Robot sensing systems Intelligent structures Learning Evolutionary computation Force sensors
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Information Systems Electrical and Electronic Engineering Human-Computer Interaction Computer Science Applications Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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