Publication

Compact Q-Learning for Micro-robots

Roland Siegwart
2003
Conference Papers

Abstract

Scaling down robots to miniature size introduces many new challenges including memory and program size limitations, low processor performance and low power autonomy. In this paper we describe the concept and implementation of learning of safe-wandering and light following tasks on the autonomous micro-robots, Alice. We propose a simplified reinforcement learning algorithm based on one step Q-learning that is optimized in speed and memory consumption. This algorithm uses only integer-based sum operators and avoids floating-point and multiplication operators.

Official source

https://infoscience.epfl.ch/entities/publication/21f1bee9-1ed1-4e57-b985-3faeb685e9a7

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Roland Siegwart
2003
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/21f1bee9-1ed1-4e57-b985-3faeb685e9a7

About this result

Related concepts (32)

Robot

A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics.

Microbotics

Microbotics (or microrobotics) is the field of miniature robotics, in particular mobile robots with characteristic dimensions less than 1 mm. The term can also be used for robots capable of handling micrometer size components. Microbots were born thanks to the appearance of the microcontroller in the last decade of the 20th century, and the appearance of microelectromechanical systems (MEMS) on silicon, although many microbots do not use silicon for mechanical components other than sensors.

Swarm robotics

Swarm robotics is an approach to the coordination of multiple robots as a system which consist of large numbers of mostly simple physical robots. ′′In a robot swarm, the collective behavior of the robots results from local interactions between the robots and between the robots and the environment in which they act.′′ It is supposed that a desired collective behavior emerges from the interactions between the robots and interactions of robots with the environment.

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