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Table Of Contents

Artificial Evolution Based Autonomous Robot Navigation
1.1 Introduction
1.2 Evolutionary Robotics
1.3 Adaptive Autonomous Robot Navigation
1.4 Artificial Evolution in Robot Navigation
1.4.1 Neural Networks
1.4.2 Evolutionary Algorithms
1.4.3 Fuzzy Logic
1.4.4 Other Methods
1.5 Open Issues and Future Prospects
1.5.1 SAGA
1.5.2 Combination of Evolution and Learning
1.5.3 Inherent Fault Tolerance
1.5.4 Hardware Evolution
1.5.5 On-Line Evolution
1.5.6 Ubiquitous and Collective Robots
1.6 Summary
Evolvable Hardware in Evolutionary Robotics*
2.1 Introduction
2.2 Evolvable Hardware
2.2.1 Basic Concept of EHW
2.2.2 Classification of EHW
2.2.2.1 Artificial evolution and hardware device
2.2.2.2 Evolution process
2.4 Evolvable Hardware in Evolutionary Robotics
2.5 Promises and Challenges
2.5.1 Promises
2.5.2 Challenges
2.6 Summary
Bibliography
3.1 Introduction
3.2 Classifying Evolvable Hardware
3.2.1 Evolutionary Algorithm
3.2.2 Evaluation Implementation
3.2.3 Genotype Representation
3.3 Advantages of Evolvable Hardware
3.3,1 Novel Hardware Designs
3.3.2 Low Cost
3.3.3 Speed of Execution
3.3.4 Economy of Resources
3.4 EHW-Based Robotic Controller Design
3.4.1 Evolvable Hardware
3.4.2 Function Unit
3.4.3 EHW-Based Robotic Controller Design
3.4.3.1 Boolean function controller
3.4.3.2 Chromosome representation
3.4.3.3 Evolution and adaptation methodology
3.4.3.4 Robot navigation tasks
3.5 Hardware and Development Platform
3.5.1 Sensor Information
3.5.2 FPGA Turret
3.5.2.1 Description
3.5.2.2 Architecture
3.5.2.3 Configuration bits
3.5.3 Hardware Configuration
3.5.4 Development Platform
3.6 Implementation Of EHW-Based Robot Navigation
3.6.1 Preliminary Investigation
3.6.2 Light Source Following Task
3.6.2.1 Software structure of light following task
3.6.2.2 Program settings of light following task
3.6.2.3 Implementation of light source following task
3.6.3 Obstacle Avoidance using Robot with a Traction Fault
3.6.3.1 Software structure of anti-collision task
3.6.3.2 Implementation of obstacle avoidance task
4.2.1 The Khepera Robot and Webots Software
4.2.2 Hybrid Architecture of the Controller
4.2.3 Function Modules on Khepera Robot
4.3 Multi-Stage Fuzzy Logic (MSFL) Sensor Fusion System
4.3.1 Feature-Based Object Recognition
4.3.2 MSFL Inference System
4.4 Grid Map Oriented Reinforcement Path Learning (GMRPL)
4.4.1 The World Model
4.4.2 GMRPL
4.5 Real-Time Implementation
4.6 Summary
Task-Oriented Developmental Learning for Humanoid Robots*
5.1 Introduction
5.2 Task-Oriented Developmental Learning System
5.2.1 Task Representation
5.2.2 The AA-Learning
5.2.3 Task Partition
5.3 Self-Organized Knowledgebase
5.3.1 PHDR Algorithm
5.3.2 Classification Tree and HDR
5.3.3 PHDR
5.3.4 Amnesic Average
5.4 A Prototype TODL System
5.4.1 Robot Agent
5.4.1.1 Khepera robot
5.4.1.2 Interface
5.4.2 TODL Mapping Engine
5.4.3 Knowledge Database
5.4.4 Sample Task
5.4.4.1 Goods distribution problem
5.4.4.2 Objects identification
5.4.4.3 PHDR representation of the sample task
5.5 Discussions
5.6 Summary
6.3 Control Architecture
6.4 Key Implementation Tools
6.4.1 Virtual Model Control
6.4.2 Q-Learning
6.5 Implementations
6.5.1 Virtual Model Control Implementation
Parameter
6.5.2.1 State variables
6.6 Simulation Studies and Discussion
6.6.1 Effect of Local Speed Control on Learning Rate
6.6.2 Generality of Proposed Algorithm
6.7 Summary
7.1 Introduction
7.2 Fuzzy Logic Control and Genetic Algorithm
7.2.1 Fuzzy Logic Control (FLC)
7.2.2 Genetic Algorithms (GAs)
7.2.3 GA Tuned FLC
7.3 Linear Inverted Pendulum Model
7.4 Proposed Bipedal Walking Control Architecture
7.4.1 Bipedal Walking Algorithm
7.4.3 Fuzzy Logic Controller (FLC) Structure
7.4.4 Genetic Algorithm Implementation
7.4.4.1 Coding the information
7.4.4.2 Evaluation
7.4.4.3 Evolutionary operators
7.5 Simulation Result
7.6 Summary
8.1 Introduction
8.2 Virtual Model Control
8.3.2 GA's Parameters
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Evolutionary Robotics.pdf

Evolutionary Robotics.pdf

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Published by: Carlos Bernal on Mar 05, 2013
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