Robot planning by cooperation of Hopfield networks - A case of Warehouse Keeper Puzzle (sokoban) -

Based on the hypothesis that all intellectual activities of human beings are performed as optimization processes, we design Hopfield networks that can coordinately achieve robot planning. Planning is a typical intellectual activity of a logical task, which is considered difficult for neural networks to do. For an example of robot planning, we take the Warehouse Keeper Puzzle, called sokoban, the goal of which is for the robot to carry a block to a goal only by pushing it and by avoiding many obstacles.