Modular behavior controller for underwater robot teams: A biologically inspired concept for advanced tasks

Dong Uck Kong, Jinung An

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In ambition to give subaqueous robot groups more robustness and behavioral flexibility for real applications, this paper proposes a modularized behavior control architecture. Schools of naval mammals provide the proof that also individual members of the group can achieve higher leveled intelligence independent of the simplicity of their collective behavior. Due to their structurally and functionally modularized brain organization, dolphins are capable of language based communication and learning complex motions by human training. Inspired by dolphins, 3 modules for the behavior controller can be conceptualized. The swarming module optimized by evolutionary methods represents the basic behavior given in the natural environment. The mission module includes extendable sets of behavior primitives that can be structured by reinforcement learning. A knowledge based sensing module can be implemented separately to increase the information reliability. With this approach, subaqueous robot schools can be expected to perform more advanced tasks than just moving as a swarm.

Original languageEnglish
Title of host publicationIntelligent Robotics and Applications - 4th International Conference, ICIRA 2011, Proceedings
Pages536-547
Number of pages12
EditionPART 2
DOIs
StatePublished - 2011
Event4th International Conference on Intelligent Robotics and Applications, ICIRA 2011 - Aachen, Germany
Duration: 6 Dec 20118 Dec 2011

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 2
Volume7102 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference4th International Conference on Intelligent Robotics and Applications, ICIRA 2011
Country/TerritoryGermany
CityAachen
Period6/12/118/12/11

Keywords

  • Behavior Controller
  • Collective Robotics
  • Swarm Intelligence
  • Underwater Robots

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