Mobile robot control based on boolean logic with internal memory

DaeEun 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
Publication statusPublished - 2001 Jan 1
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

Fingerprint

Robot Control
Mobile Robot
Mobile robots
Logic
Internal
Data storage equipment
Controller
Controllers
Reactive Systems
Obstacle Avoidance
Finite automata
Evolutionary Computation
Collision avoidance
State Machine
Evolutionary algorithms
Robot
Robots
Sensor
Configuration
Sensors

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Kim, D., & 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.
Kim, DaeEun ; Hallam, John C.T. / Mobile robot control based on boolean logic with internal memory. Advances in Artificial Life - 6th European Conference, ECAL 2001, Proceedings. editor / Jozef Kelemen ; Petr Sosik. Springer Verlag, 2001. pp. 529-538 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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Kim, D & Hallam, JCT 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. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 2159, Springer Verlag, pp. 529-538, 6th European Conference on Advances in Artificial Life, ECAL 2001, Prague, Czech Republic, 01/9/10.

Mobile robot control based on boolean logic with internal memory. / Kim, DaeEun; Hallam, John C.T.

Advances in Artificial Life - 6th European Conference, ECAL 2001, Proceedings. ed. / Jozef Kelemen; Petr Sosik. Springer Verlag, 2001. p. 529-538 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2159).

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

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Kim D, Hallam JCT. Mobile robot control based on boolean logic with internal memory. In Kelemen J, Sosik P, editors, Advances in Artificial Life - 6th European Conference, ECAL 2001, Proceedings. Springer Verlag. 2001. p. 529-538. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).