Automatic development of robot behaviour using Monte Carlo methods

James Brusey*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contribution

Abstract

Control systems for autonomous robots often use an architecture known as behaviour-based [1], which means that the problem of defining what the robot does is broken down into a number of competing or cooperating modules, or behaviours. Although a single behaviour might have access to all sensory information and might be able to control all effectors, it doesn’t necessarily do so all of the time, or may have its control outputs adjusted by other behaviours. The behaviour-based approach has been remarkably successful because the resulting control systems are fast and robust, in comparison with deliberative approaches used in the past, which tended to yield robots that were slow and sensitive to changes in the environment. Our experience has been that, although it is often easy to develop behaviours that work, they tend to be inefficient. They are inefficient in the sense that the robot takes more sense-decide-act cycles than necessary. We address this problem by developing a general method for generating near optimal behaviours based on a reward function. The approach is based on using a Monte Carlo algorithm [2] for solving Markov Decision Processes to learn the behaviour. Monte Carlo algorithms are a subclass of Reinforcement Learning algorithms and bears similarities to Q-learning or TD(A). This algorithm is slow to converge and so we found it necessary to train using a simulator. The level of realism in the simulator is therefore quite important. We found that we were able to improve over hand-coded behaviours and that the improvement carried over to tests on the physical robot.

Original languageEnglish
Title of host publicationPRICAI 2000, Topics in Artificial Intelligence - 6th Pacific Rim International Conference on Artificial Intelligence, Proceedings
Place of PublicationBerlin ; New York
PublisherSpringer, Springer Nature
Volume1886
ISBN (Print)3540679251, 9783540679257, 9783540679257
Publication statusPublished - 2000
Event6th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2000 - Melbourne, VIC, Australia
Duration: 28 Aug 20001 Sep 2000

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1886
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other6th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2000
CountryAustralia
CityMelbourne, VIC
Period28/08/001/09/00

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