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European Conference on Artificial Life

ECAL 2001: Advances in Artificial Life pp 529–538Cite as

Mobile Robot Control Based on Boolean Logic with Internal Memory

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 2159))

Abstract

The purpose of this paper is to explore the effect of adding known amounts of memory to pure reactive systems in a variety of tasks. Using a finite state machine approach, we construct controllers for a simulated robot for five tasks—obstacle avoidance, wall following, exploration, and box pushing—with two sensor configurations using evolutionary computation techniques, and compare the performance of stateless and memory-based controllers. For obstacle avoidance and exploration no significant difference is observed; for wall-following and box pushing, stateless controllers are significantly worse than memory-based but increasing amounts of memory give no significant increase in performance. The need for memory in these cases reflects a need to discriminate sensorimotor contexts to effectively perform the task.

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Author information

Authors and Affiliations

  1. Institute of Perception, Action, and Behavior Division of Informatics, The University of Edinburgh, 5 Forrest Hill, UK

    DaeEun Kim & John C. T. Hallam

Authors
  1. DaeEun Kim
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  2. John C. T. Hallam
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Editor information

Editors and Affiliations

  1. Faculty of Philosophy and Science Institute of Computer Science, Silesian University, 74601, Opava, Czech Republic

    Jozef Kelemen  & Petr Sosík  & 

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© 2001 Springer-Verlag Berlin Heidelberg

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Kim, D., Hallam, J.C.T. (2001). Mobile Robot Control Based on Boolean Logic with Internal Memory. In: Kelemen, J., Sosík, P. (eds) Advances in Artificial Life. ECAL 2001. Lecture Notes in Computer Science(), vol 2159. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-44811-X_60

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  • DOI: https://doi.org/10.1007/3-540-44811-X_60

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42567-0

  • Online ISBN: 978-3-540-44811-2

  • eBook Packages: Springer Book Archive

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