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IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)

Issue 3 • Date Jun 1996

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Displaying Results 1 - 11 of 11
  • Learning reactive and planning rules in a motivationally autonomous animat

    Publication Year: 1996, Page(s):381 - 395
    Cited by:  Papers (32)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1864 KB)

    This work describes a control architecture based on a hierarchical classifier system. This system, which learns both reactive and planning rules, implements a motivationally autonomous animat that chooses the actions it performs according to its perception of the external environment, to its physiological or internal state, to the consequences of its current behavior, and to the expected consequen... View full abstract»

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  • An unsupervised neural network for low-level control of a wheeled mobile robot: noise resistance, stability, and hardware implementation

    Publication Year: 1996, Page(s):485 - 496
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1408 KB)

    We have recently introduced a neural network mobile robot controller (NETMORC). This controller, based on previously developed neural network models of biological sensory-motor control, autonomously learns the forward and inverse odometry of a differential drive robot through an unsupervised learning-by-doing cycle. After an initial learning phase, the controller can move the robot to an arbitrary... View full abstract»

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  • Evolution of homing navigation in a real mobile robot

    Publication Year: 1996, Page(s):396 - 407
    Cited by:  Papers (125)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2056 KB)

    In this paper we describe the evolution of a discrete-time recurrent neural network to control a real mobile robot. In all our experiments the evolutionary procedure is carried out entirely on the physical robot without human intervention. We show that the autonomous development of a set of behaviors for locating a battery charger and periodically returning to it can be achieved by lifting constra... View full abstract»

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  • An incremental approach to developing intelligent neural network controllers for robots

    Publication Year: 1996, Page(s):474 - 485
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1428 KB)

    By beginning with simple reactive behaviors and gradually building up to more memory-dependent behaviors, it may be possible for connectionist systems to eventually achieve the level of planning. This paper focuses on an intermediate step in this incremental process, where the appropriate means of providing guidance to adapting controllers is explored. A local and a global method of reinforcement ... View full abstract»

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  • Hidden state and reinforcement learning with instance-based state identification

    Publication Year: 1996, Page(s):464 - 473
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1216 KB)

    Real robots with real sensors are not omniscient. When a robot's next course of action depends on information that is hidden from the sensors because of problems such as occlusion, restricted range, bounded field of view and limited attention, we say the robot suffers from the hidden state problem. State identification techniques use history information to uncover hidden state. Some previous appro... View full abstract»

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  • Spatial learning for navigation in dynamic environments

    Publication Year: 1996, Page(s):496 - 505
    Cited by:  Papers (43)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1264 KB)

    This article describes techniques that have been developed for spatial learning in dynamic environments and a mobile robot system, ELDEN, that integrates these techniques for exploration and navigation. In this research, we introduce the concept of adaptive place networks, incrementally-constructed spatial representations that incorporate variable-confidence links to model uncertainty about topolo... View full abstract»

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  • Evolution of an artificial neural network based autonomous land vehicle controller

    Publication Year: 1996, Page(s):450 - 463
    Cited by:  Papers (31)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2212 KB)

    This paper presents an evolutionary method for creating an artificial neural network based autonomous land vehicle controller. The evolved controllers perform better in unseen situations than those trained with an error backpropagation learning algorithm designed for this task. In this paper, an overview of the previous connectionist based approaches to this task is given, and the evolutionary alg... View full abstract»

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  • Rapid, safe, and incremental learning of navigation strategies

    Publication Year: 1996, Page(s):408 - 420
    Cited by:  Papers (36)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1780 KB)

    In this paper we propose a reinforcement connectionist learning architecture that allows an autonomous robot to acquire efficient navigation strategies in a few trials. Besides rapid learning, the architecture has three further appealing features. First, the robot improves its performance incrementally as it interacts with an initially unknown environment, and it ends up learning to avoid collisio... View full abstract»

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  • Learning to select useful landmarks

    Publication Year: 1996, Page(s):437 - 449
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1508 KB)

    To navigate effectively, an autonomous agent must be able to quickly and accurately determine its current location. Given an initial estimate of its position (perhaps based on dead-reckoning) and an image taken of a known environment, our agent first attempts to locate a set of landmarks (real-world objects at known locations), then uses their angular separation to obtain an improved estimate of i... View full abstract»

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  • Behavior analysis and training-a methodology for behavior engineering

    Publication Year: 1996, Page(s):365 - 380
    Cited by:  Papers (27)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2172 KB)

    We propose Behavior Engineering as a new technological area whose aim is to provide methodologies and tools for developing autonomous robots. Building robots is a very complex engineering enterprise that requires the exact definition and scheduling of the activities which a designer, or a team of designers, should follow. Behavior Engineering is, within the autonomous robotics realm, the equivalen... View full abstract»

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  • Model-based learning for mobile robot navigation from the dynamical systems perspective

    Publication Year: 1996, Page(s):421 - 436
    Cited by:  Papers (100)  |  Patents (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1820 KB)

    This paper discusses how a behavior-based robot can construct a “symbolic process” that accounts for its deliberative thinking processes using models of the environment. The paper focuses on two essential problems; one is the symbol grounding problem and the other is how the internal symbolic processes can be situated with respect to the behavioral contexts. We investigate these proble... View full abstract»

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Aims & Scope

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics focuses on cybernetics, including communication and control across humans, machines and organizations at the structural or neural level

 

This Transaction ceased production in 2012. The current retitled publication is IEEE Transactions on Cybernetics.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Dr. Eugene Santos, Jr.
Thayer School of Engineering
Dartmouth College