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Internal States Sensory Data Learn/Act Action Development Action Selection Action[1] Action[2] Action[N] Action[i] (being developed) Action[i] Environment.

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Presentation on theme: "Internal States Sensory Data Learn/Act Action Development Action Selection Action[1] Action[2] Action[N] Action[i] (being developed) Action[i] Environment."— Presentation transcript:

1 Internal States Sensory Data Learn/Act Action Development Action Selection Action[1] Action[2] Action[N] Action[i] (being developed) Action[i] Environment Action Combining

2 Internal States Sensory Data Learn/Act Action Development Action Selection Seek Follow Acquired (always runs) Action being developed. (Seek, Follow, Acquire) 0/1 Acquire Heading adjustment Speed adjustment Environment

3 Front of Robot (Oriented at 90 degrees) Right Sensor (Oriented at 45 degrees) Left Sensor (Oriented at 135 degrees) Sound Source D0 D1 Signal Strength at Right Sensor = Sound Source Intensity/D1^2 Signal Strength at Left Sensor = Sound Source Intensity/D0^2

4 Input from left acoustic sensorInput from right acoustic sensor Input layer to hidden layer weights Transfer function Hidden layer to output layer weights Heading adjustment Speed adjustment

5 Lead robot in a line of n = 12 robots. It is manually controlled. Follower robots. Id = 1 to n-1. Each is controlled by a feed-forward neural network. Each robot follows the robot whose id is one less than its own. Id = 0 Id = 1 Id = 2 Id = 3 Id = 11 Line Formation.

6 Lead robot. Id = 0 Modified tree Formation. Id = 3 Id = 4Id = 5 Id = 6Id = 7 Id = 2 Follower robots. Id = 1 to n-1. Each is controlled by a feed-forward neural network. Each robot follows the robot whose id is its own divided by 2. Id = 1

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