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In this paper, we propose a new approach to evolve controllers of autonomous robots, and experimental results of its application to a real mobile robot are described as well. It is based on two concepts: Firstly, behavior of a system in environment is generated by combinations of multiple sensory-motor reflexes, and secondly, the system behaves and evolves under the direct influence of its environment,...
In order to understand the dynamic interactions of autonomous robots with their environments, the flow of the sensory information perceived by a real mobile robot Khepera was analyzed with the return map. The plot of Xn+1 v.s. Xn of chaotic time series Xn, called the return map, have been widely used to...
A modified back-propagation (BP) algorithm for the development of autonomous robots was proposed, and applied to a real mobile robot Khepera. Coefficients of a multi-layered neural network (NN), that determined the sensor-motor reflex of the robot, were first set randomly, and the robot was allowed to behave in an environment for some time. Sets of the sensor-motor values were continuously sampled...