Genetic evolution of the subsumption architecture which controls an autonomous mobile robot

Ryoichi Odagiri, Taku Naito, Yutaka Matsunaga, Tatsuya Asai and Kazuyuki Murase
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Ryoichi Odagiri: Fukui Univ., Dept., of Info. Sci.
Taku Naito: Fukui Univ., Dept., of Info. Sci.
Yutaka Matsunaga: Aichi Univ. of Edu.
Tatsuya Asai: Fukui Univ., Dept., of Info. Sci.
Kazuyuki Murase: Fukui Univ., Dept., of Info. Sci.

A chapter in Complexity and Diversity, 1997, pp 67-69 from Springer

Abstract: Abstract We propose a method to evolve the Subsumption Architecture to control autonomous robots. Each layers of the subsumption architecture was subdivided into sublayers. Each sublayer was composed of functional modules, which were determined by evolution in environment. This algorithm was implemented in a real miniature mobile robot, Khepera, and several experiments were performed. Khepera successfully learned to navigate and avoid obstacles in test fields.

Keywords: Genetic evolution; autonomous behavior; mobile robot; subsumption architecture (search for similar items in EconPapers)
Date: 1997
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Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-4-431-66862-6_11

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DOI: 10.1007/978-4-431-66862-6_11

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