A Behavior-Based Architecture for
Teaching More than Reactive Behaviors to Mobile Robots

Third European Workshop on Advanced Mobile Robots (EUROBOT '99)
Zürich, Switzerland, September 6-8, 1999

Michael Kasper, Gernot Fricke, Ewald von Puttkamer

This contribution gives an overview of learning aspects regarding behavior-based control architectures for autonomous mobile robots. We propose a common, modularized architecture, which is particularly suited for learning-experiments. The main focus lies on "Learning from Demonstration" in a spatial domain, which means teaching motor-behaviors by humans or other robots. First results applying RBF-approximation, growing neural cell structures and probabilistic models for progress estimation are presented.

Paper (pdf)

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