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

Volume

1

fYear

1996

fDate

14-17 Oct 1996

Firstpage

655

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1996., IEEE International Conference on

Conference_Location

Beijing

ISSN

1062-922X

Print_ISBN

0-7803-3280-6

Type

conf

DOI

10.1109/ICSMC.1996.569872

Filename

569872