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Carreras Pérez, Marc
Batlle i Grabulosa, Joan Ridao RodrÃguez, Pere |
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| 2001 | |
| This paper proposes a hybrid coordination method for behavior-based control architectures. The hybrid method takes advantages of the robustness and modularity in competitive approaches as well as optimized trajectories in cooperative ones. This paper shows the feasibility of applying this hybrid method with a 3D-navigation to an autonomous underwater vehicle (AUV). The behaviors are learnt online by means of reinforcement learning. A continuous Q-learning implemented with a feed-forward neural network is employed. Realistic simulations were carried out. The results obtained show the good performance of the hybrid method on behavior coordination as well as the convergence of the behaviors | |
| application/pdf | |
| Carreras Pérez, M. , Batlle i Grabulosa, J., i Ridao RodrÃguez, P. (2001). Hybrid coordination of reinforcement learning-based behaviors for AUV control. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2001 : Proceedings, 3, 1410-1415. Recuperat 04 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=977178 | |
| 0-7803-6612-3 | |
| http://hdl.handle.net/10256/2162 | |
| eng | |
| IEEE | |
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Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2001.977178 Articles publicats (D-ATC) |
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| © IEEE/RSJ International Conference on Intelligent Robots and Systems : 2001 : Proceedings, vol. 3, p. 1410-1415 | |
| Tots els drets reservats | |
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Robots mòbils
Robots submarins Vehicles submergibles Mobile robots Submersibles Underwater robots |
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| Hybrid coordination of reinforcement learning-based behaviors for AUV control | |
| info:eu-repo/semantics/article | |
| DUGiDocs |
