Infoscience

Journal article

Incremental Robot Shaping

We propose a modular architecture for autonomous robots which allows for the implementation of basic behavioral modules by both programming and training, and accommodates for an evolutionary development of the interconnections among modules. This architecture can implement highly complex controllers and allows for incremental shaping of the robot behavior. Our proposal is exemplified and evaluated experimentally through a number of mobile robotic tasks involving exploration, battery recharging and object manipulation.

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