The binary-weights neural network for robot control

Created by W.Langdon from gp-bibliography.bib Revision:1.8051

@InProceedings{Li:2010:BioRob,

• author = "Shuguang Li and Jianping Yuan and Xiaokui Yue and Jianjun Luo",
• title = "The binary-weights neural network for robot control",
• booktitle = "3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010",
• year = "2010",
• month = "26-29 " # sep,
• pages = "765--770",
• abstract = "We propose a pure topological recurrent networks controller, which has random binary connections in hidden layer, and all hidden neurons are activated by sinusoidal functions. A direct graph encoding method and four genetic operators are implemented for using genetic programming to train this controller. Firstly, its feasibility and efficiency were validated by a pair of function approximation experiments, the results show that through evolutionary learning, this novel RNN controller can handle nonlinear problems as well as common RNN even without adjustable weights. Moreover, a simulated mobile robot was equipped with this controller, and the robot was navigated around obstacles toward a goal in physical simulation environments; during tests, this robot exhibited four successful behaviours just by topological evolving on the simple controller. This experiment reveals that this controller has the simplicity, usability and potential for robot control, it then raises the hope for further works in exploring network motifs from high level controllers.",
• keywords = "genetic algorithms, genetic programming, binary-weight neural network, direct graph encoding, evolutionary learning, genetic operator, navigation, nonlinear problems, obstacle avoidance, random binary connection, robot control, simulated mobile robot, sinusoidal functions, topological recurrent artificial neural network controller, collision avoidance, encoding, learning (artificial intelligence), mobile robots, neurocontrollers, random functions, recurrent neural nets",
• DOI = "doi:10.1109/BIOROB.2010.5626893",
• ISSN = "2155-1774",
• notes = "is this GP? Northwestern Polytech. Univ., Xi'an, China. Also known as \cite{5626893}",

}

Genetic Programming entries for Shu-guang Li Jianping Yuan Xiaokui Yue Jianjun Luo

Citations