Publikation:

Analysis and implementation of an Artificial Homeostatic Hormone System : A first case study in robotic hardware

Lade...
Vorschaubild

Dateien

Zu diesem Dokument gibt es keine Dateien.

Datum

2009

Autor:innen

Stradner, Jurgen
Schmickl, Thomas
Crailsheim, Karl

Herausgeber:innen

Kontakt

ISSN der Zeitschrift

Electronic ISSN

ISBN

Bibliografische Daten

Verlag

Schriftenreihe

Auflagebezeichnung

URI (zitierfähiger Link)
ArXiv-ID

Internationale Patentnummer

Angaben zur Forschungsförderung

Projekt

Open Access-Veröffentlichung
Core Facility der Universität Konstanz

Gesperrt bis

Titel in einer weiteren Sprache

Publikationstyp
Beitrag zu einem Konferenzband
Publikationsstatus
Published

Erschienen in

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ: IEEE, 2009, pp. 595-600. ISSN 2153-0858. eISSN 2153-0866. ISBN 978-1-4244-3803-7. Available under: doi: 10.1109/IROS.2009.5354056

Zusammenfassung

One of the prominent challenges in mobile robotics is to develop control methodologies that allow the adaptation to dynamic and unforeseen environments. The classic approach of hand-coded controllers is very efficient for well-defined tasks and specific environments but poor in adapting to changing environmental conditions. One alternative approach is the application of evolutionary algorithms which need, in turn, easily evolvable representations of controllers. In this paper, we investigate one promising approach of an artificial hormone system as a control paradigm which is believed to be easily optimized by evolutionary processes. In a first step of this research, we focus on the simple task of collision avoidance. We present a brief mathematical analysis of this controller approach and an implementation of the controller on a mobile robot to check the feasibility in principle of our approach. The task is successfully accomplished and we conclude with a discussion of the hormone dynamics in the robot.

Zusammenfassung in einer weiteren Sprache

Fachgebiet (DDC)
004 Informatik

Schlagwörter

Konferenz

IROS 2009 : IEEE/RSJ International Conference on Intelligent Robots and Systems, 10. Okt. 2009 - 15. Okt. 2009, St. Louis, MO, USA
Rezension
undefined / . - undefined, undefined

Forschungsvorhaben

Organisationseinheiten

Zeitschriftenheft

Zugehörige Datensätze in KOPS

Zitieren

ISO 690STRADNER, Jurgen, Heiko HAMANN, Thomas SCHMICKL, Karl CRAILSHEIM, 2009. Analysis and implementation of an Artificial Homeostatic Hormone System : A first case study in robotic hardware. IROS 2009 : IEEE/RSJ International Conference on Intelligent Robots and Systems. St. Louis, MO, USA, 10. Okt. 2009 - 15. Okt. 2009. In: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ: IEEE, 2009, pp. 595-600. ISSN 2153-0858. eISSN 2153-0866. ISBN 978-1-4244-3803-7. Available under: doi: 10.1109/IROS.2009.5354056
BibTex
@inproceedings{Stradner2009Analy-59960,
  year={2009},
  doi={10.1109/IROS.2009.5354056},
  title={Analysis and implementation of an Artificial Homeostatic Hormone System : A first case study in robotic hardware},
  isbn={978-1-4244-3803-7},
  issn={2153-0858},
  publisher={IEEE},
  address={Piscataway, NJ},
  booktitle={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={595--600},
  author={Stradner, Jurgen and Hamann, Heiko and Schmickl, Thomas and Crailsheim, Karl}
}
RDF
<rdf:RDF
    xmlns:dcterms="http://purl.org/dc/terms/"
    xmlns:dc="http://purl.org/dc/elements/1.1/"
    xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
    xmlns:bibo="http://purl.org/ontology/bibo/"
    xmlns:dspace="http://digital-repositories.org/ontologies/dspace/0.1.0#"
    xmlns:foaf="http://xmlns.com/foaf/0.1/"
    xmlns:void="http://rdfs.org/ns/void#"
    xmlns:xsd="http://www.w3.org/2001/XMLSchema#" > 
  <rdf:Description rdf:about="https://kops.uni-konstanz.de/server/rdf/resource/123456789/59960">
    <dc:language>eng</dc:language>
    <dcterms:abstract xml:lang="eng">One of the prominent challenges in mobile robotics is to develop control methodologies that allow the adaptation to dynamic and unforeseen environments. The classic approach of hand-coded controllers is very efficient for well-defined tasks and specific environments but poor in adapting to changing environmental conditions. One alternative approach is the application of evolutionary algorithms which need, in turn, easily evolvable representations of controllers. In this paper, we investigate one promising approach of an artificial hormone system as a control paradigm which is believed to be easily optimized by evolutionary processes. In a first step of this research, we focus on the simple task of collision avoidance. We present a brief mathematical analysis of this controller approach and an implementation of the controller on a mobile robot to check the feasibility in principle of our approach. The task is successfully accomplished and we conclude with a discussion of the hormone dynamics in the robot.</dcterms:abstract>
    <void:sparqlEndpoint rdf:resource="http://localhost/fuseki/dspace/sparql"/>
    <bibo:uri rdf:resource="https://kops.uni-konstanz.de/handle/123456789/59960"/>
    <dc:creator>Crailsheim, Karl</dc:creator>
    <dc:creator>Schmickl, Thomas</dc:creator>
    <dc:contributor>Hamann, Heiko</dc:contributor>
    <dcterms:title>Analysis and implementation of an Artificial Homeostatic Hormone System : A first case study in robotic hardware</dcterms:title>
    <dcterms:available rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-26T15:44:25Z</dcterms:available>
    <foaf:homepage rdf:resource="http://localhost:8080/"/>
    <dspace:isPartOfCollection rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <dc:contributor>Stradner, Jurgen</dc:contributor>
    <dcterms:isPartOf rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <dc:contributor>Crailsheim, Karl</dc:contributor>
    <dcterms:issued>2009</dcterms:issued>
    <dc:date rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-26T15:44:25Z</dc:date>
    <dc:creator>Stradner, Jurgen</dc:creator>
    <dc:rights>terms-of-use</dc:rights>
    <dcterms:rights rdf:resource="https://rightsstatements.org/page/InC/1.0/"/>
    <dc:creator>Hamann, Heiko</dc:creator>
    <dc:contributor>Schmickl, Thomas</dc:contributor>
  </rdf:Description>
</rdf:RDF>

Interner Vermerk

xmlui.Submission.submit.DescribeStep.inputForms.label.kops_note_fromSubmitter

Kontakt
URL der Originalveröffentl.

Prüfdatum der URL

Prüfungsdatum der Dissertation

Finanzierungsart

Kommentar zur Publikation

Allianzlizenz
Corresponding Authors der Uni Konstanz vorhanden
Internationale Co-Autor:innen
Universitätsbibliographie
Nein
Begutachtet
Diese Publikation teilen