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Artificial Life and Robotics

, Volume 3, Issue 2, pp 90–96 | Cite as

Learning control of autonomous robots using an instance-based classifier generator in continuous state space

  • M. Svinin
  • K. Kuroyama
  • K. Ueda
  • Y. Nakamura
Original Article

Abstract

A classifier system for the reinforcement learning control of autonomous mobile robots is proposed. The classifier system contains action selection, rules reproduction, and credit assignment mechanisms. An important feature of the classifier system is that it operates with continuous sensor and action spaces. The system is applied to the control of mobile robots. The local controllers use independent classifiers specified at the wheel-level. The controllers work autonomously, and with respect to each other represent dynamic systems connected through the external environment. The feasibility of the proposed system is tested in an experiment with a Khepera robot. It is shown that some patterns of global behavior can emerge from locally organized classifiers.

Key words

Autonomous robots Reinforcement learning Classifier systems 

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Copyright information

© ISAROB 1999

Authors and Affiliations

  1. 1.Mechanical Engineering DepartmentKobe UniversityKobeJapan
  2. 2.Hitachi Zosen CorporationTechnical Research InstituteOsakaJapan

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