Mobile robot control based on boolean logic with internal memory

Dae Eun Kim, John C.T. Hallam

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

The purpose of this paper is to explore the effect of adding known amounts of memory to pure reactive systems in a variety of tasks. Usinga finite state machine approach, we construct controllers for a simulated robot for five tasks—obstacle avoidance, wall following, exploration, and box pushing—with two sensor configurations using evolutionary computation techniques, and compare the performance of stateless and memory-based controllers. For obstacle avoidance and exploration no significant difference is observed; for wall-following and box pushing, stateless controllers are significantly worse than memory-based but increasing amounts of memory give no significant increase in performance. The need for memory in these cases reflects a need to discriminate sensorimotor contexts to effectively perform the task.

Original languageEnglish
Title of host publicationAdvances in Artificial Life - 6th European Conference, ECAL 2001, Proceedings
EditorsJozef Kelemen, Petr Sosik
PublisherSpringer Verlag
Pages529-538
Number of pages10
ISBN (Print)3540425675, 9783540425670
DOIs
Publication statusPublished - 2001
Event6th European Conference on Advances in Artificial Life, ECAL 2001 - Prague, Czech Republic
Duration: 2001 Sep 102001 Sep 14

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume2159
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other6th European Conference on Advances in Artificial Life, ECAL 2001
CountryCzech Republic
CityPrague
Period01/9/1001/9/14

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Kim, D. E., & Hallam, J. C. T. (2001). Mobile robot control based on boolean logic with internal memory. In J. Kelemen, & P. Sosik (Eds.), Advances in Artificial Life - 6th European Conference, ECAL 2001, Proceedings (pp. 529-538). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2159). Springer Verlag. https://doi.org/10.1007/3-540-44811-x_60