Title: Controlling an autonomous agent using internal value based action selection

Authors: Nils Goerke, Timo Henne

Addresses: Division of Neural Computation, Department of Computer Science, University of Bonn, Germany. ' Division of Neural Computation, Department of Computer Science, University of Bonn, Germany

Abstract: In this paper we describe an approach of controlling an autonomous robot by means of a hierarchical control structure, with a learning action selection. Since Damasio|s ||Descartes| error|| in 1994 the number of approaches to action selection that use internal values, derived from psychological models of emotions or drives has increased significantly. The approach realises a learning action selection mechanism in a hierarchy of sensory and actuatory layers. The sensory values yield the internal states, as a basis for action selection. In addition they are used to calculate the reinforcement signal that trains the action selection.

Keywords: autonomous agents; action selection; automatic learning; internal value systems; IVS; emobot; drives; emotions; robot controllers; real time.

DOI: 10.1504/IJISTA.2007.012491

International Journal of Intelligent Systems Technologies and Applications, 2007 Vol.2 No.2/3, pp.313 - 327

Available online: 19 Feb 2007

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