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Modular behavior controller for underwater robot teams: A biologically inspired concept for advanced tasks

Title
Modular behavior controller for underwater robot teams: A biologically inspired concept for advanced tasks
Authors
Kong, Dong UckAn, Jin Ung
DGIST Authors
Kong, Dong Uck; An, Jin Ung
Issue Date
2011
Citation
4th International Conference on Intelligent Robotics and Applications, ICIRA 2011, 7102 LNAI(PART 2), 536-547
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
ISSN
0302-9743
Abstract
In ambition to give subaqueous robot groups more robustness and behavioral flexibility for real applications, this paper proposes a modularized behavior control architecture. Schools of naval mammals provide the proof that also individual members of the group can achieve higher leveled intelligence independent of the simplicity of their collective behavior. Due to their structurally and functionally modularized brain organization, dolphins are capable of language based communication and learning complex motions by human training. Inspired by dolphins, 3 modules for the behavior controller can be conceptualized. The swarming module optimized by evolutionary methods represents the basic behavior given in the natural environment. The mission module includes extendable sets of behavior primitives that can be structured by reinforcement learning. A knowledge based sensing module can be implemented separately to increase the information reliability. With this approach, subaqueous robot schools can be expected to perform more advanced tasks than just moving as a swarm. © 2011 Springer-Verlag.
URI
http://hdl.handle.net/20.500.11750/1819
DOI
10.1007/978-3-642-25489-5_52
Publisher
Springer Verlag
Related Researcher
Files:
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Collection:
ETC2. Conference Papers
Division of IoT∙Robotics Convergence Research2. Conference Papers


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