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Title:Mobile Robot Control based on Boolean Logic with Internal Memory
Authors: DaeEun Kim ; John Hallam
Date:Jun 2004
Publication Title:Advances in Artificial Life, Lecture Notes in Computer Science
Publication Type:Journal Article
Volume No:2159
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. Using a finite state machine approach, we construct controllers for a simulated robot for five tasks ---obstable 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.
2004 by The University of Edinburgh. All Rights Reserved
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Bibtex format
author = { DaeEun Kim and John Hallam },
title = {Mobile Robot Control based on Boolean Logic with Internal Memory},
journal = {Advances in Artificial Life, Lecture Notes in Computer Science},
publisher = {Springer-Verlag},
year = 2004,
month = {Jun},
volume = {2159},

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