1998 Fiscal Year Annual Research Report

自己創出的自律適応システムの構成法に関する研究

Research Project

Project/Area Number	09450106
Research Institution	Kobe University
Principal Investigator	上田完次神戸大学, 工学部, 教授 (50031133)
Co-Investigator(Kenkyū-buntansha)	大倉和博神戸大学, 工学部, 助手 (40252788) 真鍋圭司神戸大学, 工学部, 助手 (90209677) ヤリワーリオノキアジャパン, ノキアリサーチセンタ, 研究室長
Keywords	強化学習 / 自律適応システム / 自律移動ロボット / 機能分化 / 自己組織化
Research Abstract	本研究では,自己創出的自律適応システムの構築を目指し,以下に示す研究を行なった. 1. 疑似四足歩行ロボットの各リンクを非同期の自律エージェントとして構成し,CSCG(Continuous SpaceClassifier Generator)を適用し,四足歩行ロボット実機の歩容を獲得することを試みた.光源に向かって歩くというタスクを与えて学習を行なった所,試行錯誤の結果4足歩行の歩容が獲得されることを確認した. 2. 2台のAGVがリンクで接続された台車の制御系を各AGV毎に独立なエージェントとして構成し,強化学習を適用して各AGVの制御ルールを自動的に獲得することを試みた.しかし,本問題のような動的な環境において強化学習をそのまま適用することは困難であるため,本研究では,SLA(Stochastic LearningAutomata)を用いた予測器を強化学習と組み合わせることによりこの問題を回避している.計算機実験において,部屋の中を壁づたいに移動するというタスクを与えた場合,本手法を用いることにより2台のAGVの協調的な動作が獲得されることを確認した.

Research Products
(14 results)

All Other

All Publications (14 results)

[Publications] 上田完次: "生物指向型生産システム-環境への適応を目指して-" 日本機械学会誌. 101・959. 771-774 (1998)
[Publications] 上田完次: "創発システムとしての生産" 精密工学会誌. 64・10. 1431-1434 (1998)
[Publications] 中村陽一郎: "Instance-based classifier generator による自律移動ロボットの行動獲得" 日本ロボット学会論文誌. 16・3. (1999)
[Publications] Jari Vaario: "Toward intelligent control of multi-agent systems" Proceedings of International Congerence on Intelligent Autonomous Systems (IAS-5). (1998)
[Publications] Jari Vaario: "Lineless production for highly flexible and adaptive manufacturing" Proceedings of ICME98. 391-398 (1998)
[Publications] Mikhail Svinin: "Reinforcement learning of periodical gaits in locomotion robots" SPIE Int.Symposium on Intelligent Systems and Advanced Manufacturing. 17-22 (1999)
[Publications] Mikhail Svinin: "Learning control of autonomous robots using an instance-based classifier generator in the continuous state space" Artificial Life and Robotics. 3. (1998)
[Publications] Mikhail Svnin: "An approach to self-organized control of locomotion robots" Proceedings of 1st Int.Symposium on Climbing and Walking Robots. 329-334 (1998)
[Publications] Mikhail Svinin: "Decentralized reinforcement learning control and emergence of motion patterns" SPIE Int.Symposium on Intelligent Systems and Advanced Manufacturing. 3523. 223-234 (1998)
[Publications] Mikhail Svinin: "On the emergence of motion patterns in locomotion systems" Proceedings of the 4th Int.Symposium on Artificial Life and Robotics,AROB'99. 158-161 (1998)
[Publications] Kazuaki Yamada: "Reinforcement learning control of autonomous locomotion robots" Proceedings of the Japan-USA Symposium on Flexible Automation. 1097-1100 (1998)
[Publications] Kazuhiro Ohkura: "A learning multi-agent approach to dynamic sheduling for autonomous distributed manufacturing systems" 15th International Conference on COMPUTER-AIDED PRODUCTION ENGINEERING (CAPE'99). (1999)
[Publications] Kazuhiro Ohkura: "Robust evolution strategies" Proceedings of The Second Asia-Pacific Conference on Simulated Evolution and Learning (SEAL'98). (1998)
[Publications] Kenichiro Kawakami: "Reinforcement learning approach to cooperative carrying problem" International Symposiuim on Artificial Life and Robotics (AROB'99). 154-157 (1999)

1998 Fiscal Year Annual Research Report

自己創出的自律適応システムの構成法に関する研究

Principal Investigator

上田 完次 神戸大学, 工学部, 教授 (50031133)

Research Products

[Publications] 上田完次: "生物指向型生産システム-環境への適応を目指して-" 日本機械学会誌. 101・959. 771-774 (1998)

[Publications] 上田完次: "創発システムとしての生産" 精密工学会誌. 64・10. 1431-1434 (1998)

[Publications] 中村陽一郎: "Instance-based classifier generator による自律移動ロボットの行動獲得" 日本ロボット学会論文誌. 16・3. (1999)

[Publications] Jari Vaario: "Toward intelligent control of multi-agent systems" Proceedings of International Congerence on Intelligent Autonomous Systems (IAS-5). (1998)

[Publications] Jari Vaario: "Lineless production for highly flexible and adaptive manufacturing" Proceedings of ICME98. 391-398 (1998)

[Publications] Mikhail Svinin: "Reinforcement learning of periodical gaits in locomotion robots" SPIE Int.Symposium on Intelligent Systems and Advanced Manufacturing. 17-22 (1999)

[Publications] Mikhail Svinin: "Learning control of autonomous robots using an instance-based classifier generator in the continuous state space" Artificial Life and Robotics. 3. (1998)

[Publications] Mikhail Svnin: "An approach to self-organized control of locomotion robots" Proceedings of 1st Int.Symposium on Climbing and Walking Robots. 329-334 (1998)

[Publications] Mikhail Svinin: "Decentralized reinforcement learning control and emergence of motion patterns" SPIE Int.Symposium on Intelligent Systems and Advanced Manufacturing. 3523. 223-234 (1998)

[Publications] Mikhail Svinin: "On the emergence of motion patterns in locomotion systems" Proceedings of the 4th Int.Symposium on Artificial Life and Robotics,AROB'99. 158-161 (1998)

[Publications] Kazuaki Yamada: "Reinforcement learning control of autonomous locomotion robots" Proceedings of the Japan-USA Symposium on Flexible Automation. 1097-1100 (1998)

[Publications] Kazuhiro Ohkura: "A learning multi-agent approach to dynamic sheduling for autonomous distributed manufacturing systems" 15th International Conference on COMPUTER-AIDED PRODUCTION ENGINEERING (CAPE'99). (1999)

[Publications] Kazuhiro Ohkura: "Robust evolution strategies" Proceedings of The Second Asia-Pacific Conference on Simulated Evolution and Learning (SEAL'98). (1998)

[Publications] Kenichiro Kawakami: "Reinforcement learning approach to cooperative carrying problem" International Symposiuim on Artificial Life and Robotics (AROB'99). 154-157 (1999)

上田完次神戸大学, 工学部, 教授 (50031133)