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A unified architecture for agent behaviors with selection of evolved neural network modules

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Abstract

To model complex systems for agent behaviors, genetic algorithms have been used to evolve neural networks which are based on cellular automata. These neural networks are popular tools in the artificial life community. This hybrid architecture aims at achieving synergy between the cellular automata and the powerful generalization capabilities of the neural networks. Evolutionary algorithms provide useful ways to learn about the structure of these neural networks, but the use of direct evolution in more difficult and complicated problems often fails to achieve satisfactory solutions. A more promising solution is to employ incremental evolution that reuses the solutions of easy tasks and applies these solutions to more difficult ones. Moreover, because the human brain can be divided into many behaviors with specific functionalities and because human beings can integrate these behaviors for high-level tasks, a biologically-inspired behavior selection mechanism is useful when combining these incrementally evolving basic behaviors. In this paper, an architecture based on cellular automata, neural networks, evolutionary algorithms, incremental evolution and a behavior selection mechanism is proposed to generate high-level behaviors for mobile robots. Experimental results with several simulations show the possibilities of the proposed architecture.

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Authors and Affiliations

  1. Department of Computer Science, Yonsei University, 134 Shinchon-dong, Sudaemoon-ku, Seoul, 120-749, Korea

    Kyung-Joong Kim & Sung-Bae Cho

Authors
  1. Kyung-Joong Kim
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  2. Sung-Bae Cho
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Correspondence to Sung-Bae Cho.

Additional information

Kyung-Joong Kim (Student Member, IEEE) received the B.S. and M.S. degree in computer science from Yonsei University, Seoul, Korea, in 2000 and 2002, respectively. Since 2002, he has been a Ph.D. student in the Department of Computer Science, Yonsei University. His research interests include evolutionary neural network, robot control, and agent architecture.

Sung-Bae Cho (Member, IEEE) received the B.S. degree in computer science from Yonsei University, Seoul, Korea, in 1988 and the M.S. and Ph.D. degrees in computer science from Korea Advanced Institute of Science and Technology (KAIST), Taejeon, Korea, in 1990 and 1993, respectively. From 1991 to 1993, he worked as a Member of the Research Staff at the Center for Artificial Intelligence Research at KAIST. From 1993 to 1995, he was an Invited Researcher of Human Information Processing Research Laboratories at ATR (Advanced Telecommunications Research) Institute, Kyoto, Japan. In 1998, he was a Visiting Scholar at University of New South Wales, Canberra, Australia. Since 1995, he has been a Professor in the Department of Computer Science, Yonsei University. His research interests include neural networks, pattern recognition, intelligent man-machine interfaces, evolutionary computation, and artificial life. Dr. Cho is a Member of the Korea Information Science Society, INNS, the IEEE Computer Society, and the IEEE Systems, Man and Cybernetics Society. He was awarded outstanding paper prizes from the IEEE Korea Section in 1989 and 1992, and another one from the Korea Information Science Society in 1990. In 1993, he also received the Richard E. Merwin prize from the IEEE Computer Society. In 1994, he was listed in Who’s Who in Pattern Recognition from the International Association for Pattern Recognition and received the best paper awards at International Conference on Soft Computing in 1996 and 1998. In 1998, he received the best paper award at World Automation Congress. He was listed in Marquis Who’s Who in Science and Engineering in 2000 and in Marquis Who’s Who in the World in 2001.

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Kim, KJ., Cho, SB. A unified architecture for agent behaviors with selection of evolved neural network modules. Appl Intell 25, 253–268 (2006). https://doi.org/10.1007/s10489-006-0106-z

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