NDLI: Neural networks robot controller trained with evolution strategies

Content Provider	IEEE Xplore Digital Library
Author	Berlanga, A. Isasi, P. Sanchis, A. Molina, J.M.
Copyright Year	1999
Description	Author affiliation: ScaLab, Univ. Carlos III de Madrid, Spain (Berlanga, A.)
Abstract	Neural networks (NN) can be used as controllers in autonomous robots. The specific features of the navigation problem in robotics make generation of good training sets for the NN difficult. An evolution strategy (ES) is introduced to learn the weights of the NN instead of the learning method of the network. The ES is used to learn high performance reactive behavior for navigation and collision avoidance. No subjective information about "how to accomplish the task" has been included in the fitness function. The learned behaviors are able to solve the problem in different environments; therefore, the learning process has the proven ability to obtain a specialized behavior. All the behaviors obtained have been tested in a set of environments and the capability of generalization is shown for each learned behavior. A simulator based on the mini-robot, Khepera, has been used to learn each behavior.
Starting Page	413
Ending Page	419
File Size	537895
Page Count	7
File Format	PDF
ISBN	0780355369
DOI	10.1109/CEC.1999.781954
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-07-06
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Neural networks Robot control Robot sensing systems Genetic mutations Motion planning Learning systems Artificial neural networks Sensor phenomena and characterization Navigation Collision avoidance
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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