Title :
A neural network-based controller for homogeneous and heterogeneous distributed robotic systems
Author :
Agah, Arvin ; Bekey, George A.
Author_Institution :
Bio-Robotics Div., AIST-MITI, Tsukuba, Japan
Abstract :
A neural network-based controller for robot members of a distributed robotic system is presented. It is shown that a four-layer network with robot perception as input and robot action as output can produce appropriate behaviors for members of a robot team, performing specific tasks. Also included in this paper are the results of experiments, comparing the performance of a homogeneous robot team with that of a team composed of heterogeneous members
Keywords :
backpropagation; cognitive systems; cooperative systems; distributed control; feedforward neural nets; neurocontrollers; robots; cognitive systems; distributed robotic systems; error backpropagation; heterogeneous robot system; homogeneous robot system; multilayer neural network; neurocontrol; robot action; robot colony; robot perception; tropism systems; Cognitive robotics; Computer architecture; Computer science; Control systems; Laboratories; Mechanical engineering; Neural networks; Robot control; Robot sensing systems; Robotics and automation;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.569872
