Embodied imitation and behavioural adaptation in robot collectives
Başlık çevirisi mevcut değil.
- Tez No: 400209
- Danışmanlar: PROF. ALAN FT WİNFİELD, PROF. LARRY BULL
- Tez Türü: Doktora
- Konular: Çevre Mühendisliği, Environmental Engineering
- Anahtar Kelimeler: Belirtilmemiş.
- Yıl: 2012
- Dil: İngilizce
- Üniversite: University of the West of England
- Enstitü: Yurtdışı Enstitü
- Ana Bilim Dalı: Belirtilmemiş.
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: 141
Özet
Özet yok.
Özet (Çeviri)
Social learning, which enables the individuals to learn from others in a community, is an importantmechanism for social animals. One of the most important types of social learning is imitationas it allows certain skills and behaviours to be transferred between individuals without languageor other complex symbolic communication. This thesis investigates embodied imitation andbehavioural adaptation in collective robotics. Firstly, by using robots to model social learning byimitation in a collective, we examine the adaptation of behaviours and their structure. Secondly,the link between imitation and individual learning is investigated and a method that uses imitationas an enhancing factor to increase the learning speed of artificial agents is developed and tested.In this thesis, real robots are used to model imitation and a robot to robot movement imitationalgorithm is implemented. The algorithm is embodied in the sense that robots use their on-boardsensors to perceive the movement of other robots. Following this, a quality of imitation functionis designed to quantitatively assess the fidelity of imitation. It is shown that although we havea homogeneous group of robots, variations that are caused by embodiment arise during imitationprocess. In experiments not previously undertaken in a group of real robots, it is shown thatthese variations allow certain behaviours, that appear to be more robust to uncertainties in robot?ssensors, to emerge during multiple cycles of imitation. Therefore, as the robots share a similarperceptual context, the structure of the imitated behaviours adapts to the uncertainties in robot?ssensors so that these emergent behaviours can be copied with high fidelity. This process is proposedas a possible abstract yet embodied model of cultural evolution that explains the emergenceand propagation of shared behaviours by imitation in a group of social agents.This thesis also presents an algorithm that combines individual learning and imitation. Thealgorithm uses imitation as an enhancing factor that increases the learning speed of agents thatutilise a well known reinforcement learning method. The algorithm is novel as it attempts touse imitation of purely observed behaviours to enhance learning. As in nature, imitation providesagents with model behaviours that can lead their individual learning process. Finding in what stateor context these model behaviours are useful is determined by the learning process of the imitatingagent. The algorithm is validated both in a simulation, and on real robots that use embodiedimitation and learning speed is shown to increase in the robot collective.
Benzer Tezler
- Sosyal hesaplar matrisi ve Türkiye için bir uygulama
The Social accounting matrix and an application for Turkey
GÜLAY ŞENESEN(GÜNLÜK)
- Analyzing transition dynamics the actor-option framework for modelling socio-technical systems
Başlık çevirisi yok
GÖNENÇ YÜCEL
Doktora
İngilizce
2010
Endüstri ve Endüstri MühendisliğiTechnische Universiteit Delft (Delft University of Technology)PROF. C. E. VAN DAALEN
- Tasarımcı bakış açısıyla hesaplamalı düşünmede prosedürel soyutlamanın değerlendirilmesi için bir yöntem
An evaluation method for a designer's procedural abstraction in computational thinking
ELİF BELKIS ÖKSÜZ
- Embodied interaction: A case for a playful learning
Çevre ile bütünleşen etkileşim: Oyunla öğrenmeye bir örnek
ÖZDE ÖZDAL
Yüksek Lisans
İngilizce
2015
Bilim ve Teknolojiİstanbul Teknik ÜniversitesiBilişim Ana Bilim Dalı
DOÇ. DR. MİNE ÖZKAR KABAKÇIOĞLU
- Individualism and democracy in Turkey
Türkiye'de bireyselleşme ve demokrasi
BELKIS NURTEN ÖZKORAY
Yüksek Lisans
İngilizce
2010
Siyasal BilimlerBoğaziçi ÜniversitesiSosyoloji Bölümü
PROF. DR. FARUK BİRTEK
