書誌事項
- タイトル別名
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- Behavior Acquisition of Autonomous Mobile Robots Using Instance-Based Classifier Generator.
- Instance-Based Classifier Generator ニ ヨル ジリツ イドウ ロボット ノ コウドウ カクトク
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抄録
Learning new behaviors is a crucial problem in behavior-based robots. This research proposes a new method of reinforcement learning, called Instance-Based Classifier Generator (IBCG), for the acquisition of reactive behaviors. In IBCG, the learning system successively memorizes a newly experienced state-action pair as an action-rule. Utility of each rule is estimated by the original temporal credit assignment procedure, which is designed so that the cooperative rules leading the system to an eventual reward should self-organize. Learning capability of IBCG is experimentally examined through a task of mobile robot navigation in both simulated and real environment. The results demonstrate that the robot with IBCG acquired behaviors such as light-seeking, collision-avoidance, and wall-following.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 17 (3), 371-379, 1999
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679702771712
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- NII論文ID
- 10002865892
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
- http://id.crossref.org/issn/02891824
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- NDL書誌ID
- 4693995
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可