Guided Self-organisation for Autonomous Robot Development

Georg Martius, J. Michael Herrmann, Ralf Der

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper presents a method to guide the self-organised development of behaviours of autonomous robots. In earlier publications we demonstrated how to use the homeokinesis principle and dynamical systems theory to obtain self-organised playful but goal-free behaviour. Now we extend this framework by reinforcement signals. We validate the mechanisms with two experiment with a spherical robot. The first experiment aims at fast motion, where the robot reaches on average about twice the speed of a not reinforcement robot. In the second experiment spinning motion is rewarded and we demonstrate that the robot successfully develops pirouettes and curved motion which only rarely occur among the natural behaviours of the robot.
Original languageEnglish
Title of host publicationAdvances in Artificial Life
Subtitle of host publication9th European Conference, ECAL 2007, Lisbon, Portugal, September 10-14, 2007. Proceedings
EditorsFernando Almeida e Costa, Luis Mateus Rocha, Ernesto Costa, Inman Harvey, António Coutinho
Place of PublicationBerlin, Heidelberg
PublisherSpringer Berlin Heidelberg
Pages766-775
Number of pages10
ISBN (Electronic)978-3-540-74913-4
ISBN (Print)978-3-540-74912-7
DOIs
Publication statusPublished - 2007

Publication series

NameLecture Notes in Computer Science
PublisherSpringer Berlin Heidelberg
Volume4648
ISSN (Print)0302-9743

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