Publication

Compact Q-Learning Optimized for Micro-robots with Processing and Memory Constraints

Roland Siegwart
2004
Journal Articles

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 a safewandering task with the autonomous micro-robots, Alice. We propose a simplified reinforcement learning algorithm based on one-step Qlearning that is optimized in speed and memory consumption. This algorithm uses only integer-based sum operators and avoids floatingpoint and multiplication operators. Finally, quality of learning is compared to a floating-point based algorithm.

Official source

https://infoscience.epfl.ch/entities/publication/b96b855b-b6c9-457b-8ba8-886deef1ea40

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Roland Siegwart
2004
Journal Articles

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/b96b855b-b6c9-457b-8ba8-886deef1ea40

About this result

Related concepts (32)

Multiplication algorithm

A multiplication algorithm is an algorithm (or method) to multiply two numbers. Depending on the size of the numbers, different algorithms are more efficient than others. Efficient multiplication algorithms have existed since the advent of the decimal system. If a positional numeral system is used, a natural way of multiplying numbers is taught in schools as long multiplication, sometimes called grade-school multiplication, sometimes called the Standard Algorithm: multiply the multiplicand by each digit of the multiplier and then add up all the properly shifted results.

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.

Program optimization

In computer science, program optimization, code optimization, or software optimization, is the process of modifying a software system to make some aspect of it work more efficiently or use fewer resources. In general, a computer program may be optimized so that it executes more rapidly, or to make it capable of operating with less memory storage or other resources, or draw less power. Although the word "optimization" shares the same root as "optimal", it is rare for the process of optimization to produce a truly optimal system.

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Compact Q-Learning Optimized for Micro-robots with Processing and Memory Constraints

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