• 제목/요약/키워드: behavior selection network

검색결과 73건 처리시간 0.027초

인공 면역계 기반 자율분산로봇 시스템의 협조 전략과 군행동 (Cooperative Strategies and Swarm Behavior in Distributed Autonomous Robotic Systems Based on Artificial Immune System)

  • 심귀보;이동욱;선상준
    • 제어로봇시스템학회논문지
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    • 제6권12호
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    • pp.1079-1085
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    • 2000
  • In this paper, we propose a method of cooperative control (T-cell modeling) and selection of group behavior strategy (B-cell modeling) based on immune system in distributed autonomous robotic system (DARS). An immune system is the living bodys self-protection and self-maintenance system. these features can be applied to decision making of the optimal swarm behavior in a dynamically changing environment. For applying immune system to DARS, a robot is regarded as a B-cell, each environmental condition as an antigen, a behavior strategy as an antibody, and control parameter as a T-cell, respectively. When the environmental condition (antigen) changes, a robot selects an appropriate behavior strategy (antibody). And its behavior strategy is stimulated and suppressed by other robots using communication (immune network). Finally, much stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and immune network hypothesis, and it is used for decision making of the optimal swarm strategy. Adaptation ability of the robot is enhanced by adding T-cell model as a control parameter in dynamic environments.

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모듈형 행동선택네트워크를 이용한 거울뉴런과 마음이론 기반의 의도대응 모델 (An Intention-Response Model based on Mirror Neuron and Theory of Mind using Modular Behavior Selection Networks)

  • 채유정;조성배
    • 정보과학회 논문지
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    • 제42권3호
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    • pp.320-327
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    • 2015
  • 최근 다양한 분야에 서비스 로봇이 상용화되고 있지만 대부분의 로봇 에이전트는 사용자의 구체적인 명령에 의존적이고, 불안정한 센서정보를 기반으로 환경변화에 빠르게 대응하여 목적을 달성하기는 어려운 문제가 있다. 이러한 문제를 해결하기 위해, 본 논문은 사람이 타인의 의도를 이해하고 대응하는 과정을 설명하는 거울뉴런(mirror neuron)과 마음이론(theory of mind) 시스템을 모델링하고 로봇에이전트에 적용하여 유용성을 입증한다. 제안하는 의도-대응 모델은 거울뉴런의 빠르고 직관적인 대응행동과 중간목적 지향적인 특성을 구현하기 위해, 환경과 목적을 고려하는 행동선택 네트워크(behavior selection network)를 사용한다. 또한, 장기적인 행동계획을 기반으로 대응행동을 수행하는 마음이론 시스템을 수행하기 위해, 계층적 계획생성 기법을 이용하여 중간목적 단위로 행동을 계획하고 이를 기반으로 행동선택네트워크 모듈을 제어한다. 다양한 시나리오에 대해 실험한 결과 외부자극에 적절한 대응행동이 생성됨을 확인하였다.

Negative Selection 알고리즘 기반 이상탐지기를 이용한 이상행 위 탐지 (Anomaly behavior detection using Negative Selection algorithm based anomaly detector)

  • 김미선;서재현
    • 한국정보통신학회:학술대회논문집
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    • 한국해양정보통신학회 2004년도 춘계종합학술대회
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    • pp.391-394
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    • 2004
  • 인터넷의 급속한 확장으로 인해 네트워크 공격기법의 패러다임의 변화가 시작되었으며 새로울 공격 형태가 나타나고 있으나 대부분의 침입 탐지 기술은 오용 탐지 기술을 기반으로 하는 시스템이주를 이루고 있어 알려진 공격 유형만을 탐지하고, 새로운 공격에 능동적인 대응이 어려운 실정이다. 이에 새로운 공격 유형에 대한 탐지력을 높이기 위해 인체 면역 메커니즘을 적용하려는 시도들이 나타나고 있다. 본 논문에서는 데이터 마이닝 기법을 이용하여 네트워크 패킷에 대한 정상 행위 프로파일을 생성하고 생성된 프로파일을 자기공간화 하여 인체면역계의 자기, 비자기 구분기능을 이용해 자기 인식 알고리즘을 구현하여 이상행위를 탐지하고자 한다. 자기인식 알고리즘의 하나인 Negative Selection Algorithm을 기반으로 anomaly detector를 생성하여 자기공간을 모니터하여 변화를 감지하고 이상행위를 검출한다. DARPA Network Dataset을 이용하여 시뮬레이션을 수행하여 침입 탐지율을 통해 알고리즘의 유효성을 검증한다.

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A Novel Action Selection Mechanism for Intelligent Service Robots

  • Suh, Il-Hong;Kwon, Woo-Young;Lee, Sang-Hoon
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2003년도 ICCAS
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    • pp.2027-2032
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    • 2003
  • For action selection as well as learning, simple associations between stimulus and response have been employed in most of literatures. But, for a successful task accomplishment, it is required that an animat can learn and express behavioral sequences. In this paper, we propose a novel action-selection-mechanism to deal with sequential behaviors. For this, we define behavioral motivation as a primitive node for action selection, and then hierarchically construct a network with behavioral motivations. The vertical path of the network represents behavioral sequences. Here, such a tree for our proposed ASM can be newly generated and/or updated, whenever a new sequential behaviors is learned. To show the validity of our proposed ASM, three 2-D grid world simulations will be illustrated.

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지능로봇의 동기 기반 행동선택을 위한 베이지안 행동유발성 모델 (Motivation-Based Action Selection Mechanism with Bayesian Affordance Models for Intelligence Robot)

  • 손광희;이상형;서일홍
    • 대한전자공학회:학술대회논문집
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    • 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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    • pp.264-266
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    • 2009
  • A skill is defined as the special ability to do something well, especially as acquired by learning and practice. To learn a skill, a Bayesian network model for representing the skill is first learned. We will regard the Bayesian network for a skill as an affordance. We propose a soft Behavior Motivation(BM) switch as a method for ordering affordances to accomplish a task. Then, a skill is constructed as a combination of an affordance and a soft BM switch. To demonstrate the validity of our proposed method, some experiments were performed with GENIBO(Pet robot) performing a task using skills of Search-a-target-object, Approach-a-target-object, Push-up-in front of -a-target-object.

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Optimal Price Strategy Selection for MVNOs in Spectrum Sharing: An Evolutionary Game Approach

  • Zhao, Shasha;Zhu, Qi;Zhu, Hongbo
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • 제6권12호
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    • pp.3133-3151
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    • 2012
  • The optimal price strategy selection of two bounded rational cognitive mobile virtual network operators (MVNOs) in a duopoly spectrum sharing market is investigated. The bounded rational operators dynamically compete to sell the leased spectrum to secondary users in order to maximize their profits. Meanwhile, the secondary users' heterogeneous preferences to rate and price are taken into consideration. The evolutionary game theory (EGT) is employed to model the dynamic price strategy selection of the MVNOs taking into account the response of the secondary users. The behavior dynamics and the evolutionary stable strategy (ESS) of the operators are derived via replicated dynamics. Furthermore, a reward and punishment mechanism is developed to optimize the performance of the operators. Numerical results show that the proposed evolutionary algorithm is convergent to the ESS, and the incentive mechanism increases the profits of the operators. It may provide some insight about the optimal price strategy selection for MVNOs in the next generation cognitive wireless networks.

자율이동로봇군의 협조전략과 군행동의 실현을 위한 면역시스템의 모델링 (An Immune System Modeling for Realization of Cooperative Strategies and Group Behavior in Collective Autonomous Mobile Robots)

  • 이동욱;심귀보
    • 한국지능시스템학회:학술대회논문집
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    • 한국퍼지및지능시스템학회 1998년도 춘계학술대회 학술발표 논문집
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    • pp.127-130
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    • 1998
  • In this paper, we propose a method of cooperative control(T-cell modeling) and selection of group behavior strategy(B-cell modeling) based on immune system in distributed autonomous robotic system(DARS). Immune system is living body's self-protection and self-maintenance system. Thus these features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For the purpose of applying immune system to DARS, a robot is regarded as a B cell, each environmental condition as an antigen, a behavior strategy as an antibody and control parameter as a T-call respectively. The executing process of proposed method is as follows. When the environmental condition changes, a robot selects an appropriate behavior strategy. And its behavior strategy is stimulated and suppressed by other robot using communication. Finally much stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based of clonal selection and idiotopic network hypothesis. And it is used for decision making of optimal swarm strategy. By T-cell modeling, adaptation ability of robot is enhanced in dynamic environments.

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A Motivation-Based Action-Selection-Mechanism Involving Reinforcement Learning

  • Lee, Sang-Hoon;Suh, Il-Hong;Kwon, Woo-Young
    • International Journal of Control, Automation, and Systems
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    • 제6권6호
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    • pp.904-914
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    • 2008
  • An action-selection-mechanism(ASM) has been proposed to work as a fully connected finite state machine to deal with sequential behaviors as well as to allow a state in the task program to migrate to any state in the task, in which a primitive node in association with a state and its transitional conditions can be easily inserted/deleted. Also, such a primitive node can be learned by a shortest path-finding-based reinforcement learning technique. Specifically, we define a behavioral motivation as having state-dependent value as a primitive node for action selection, and then sequentially construct a network of behavioral motivations in such a way that the value of a parent node is allowed to flow into a child node by a releasing mechanism. A vertical path in a network represents a behavioral sequence. Here, such a tree for our proposed ASM can be newly generated and/or updated whenever a new behavior sequence is learned. To show the validity of our proposed ASM, experimental results of a mobile robot performing the task of pushing- a- box-in to- a-goal(PBIG) will be illustrated.

Enhancement OLSR Routing Protocol using Particle Swarm Optimization (PSO) and Genrtic Algorithm (GA) in MANETS

  • Addanki, Udaya Kumar;Kumar, B. Hemantha
    • International Journal of Computer Science & Network Security
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    • 제22권4호
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    • pp.131-138
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    • 2022
  • A Mobile Ad-hoc Network (MANET) is a collection of moving nodes that communicate and collaborate without relying on a pre-existing infrastructure. In this type of network, nodes can freely move in any direction. Routing in this sort of network has always been problematic because of the mobility of nodes. Most existing protocols use simple routing algorithms and criteria, while another important criterion is path selection. The existing protocols should be optimized to resolve these deficiencies. 'Particle Swarm Optimization (PSO)' is an influenced method as it resembles the social behavior of a flock of birds. Genetic algorithms (GA) are search algorithms that use natural selection and genetic principles. This paper applies these optimization models to the OLSR routing protocol and compares their performances across different metrics and varying node sizes. The experimental analysis shows that the Genetic Algorithm is better compared to PSO. The comparison was carried out with the help of the simulation tool NS2, NAM (Network Animator), and xgraph, which was used to create the graphs from the trace files.

복잡한 행동을 위한 셀룰라 오토마타 기반 신경망 모듈의 동적선택 (Dynamic Selection of Neural Network Modules based on Cellular Automata for Complex Behaviors)

  • 김경중;조성배
    • 대한전기학회논문지:시스템및제어부문D
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    • 제51권4호
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    • pp.160-166
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    • 2002
  • Since conventional mobile robot control with one module has limitation to solve complex problems, there have been a variety of works on combining multiple modules for solving them. Recently, many researchers attempt to develop mobile robot controllers using artificial life techniques. In this paper, we develop a mobile robot controller using cellular automata based neural networks, where complex tasks are divided to simple sub-tasks and optimal neural structure of each sub-task is explored by genetic algorithm. Neural network modules are combined dynamically using the action selection mechanism, where basic behavior modules compete each other by inhibition and cooperation. Khepera mobile robot simulator is used to verify the proposed model. Experimental results show that complex behaviors emerge from the combination of low-level behavior modules.