A Stable Approach for Modular Learning and its Application to Autonomous Aero-Robot
Mai Bando, and Hiroaki Nakanishi
Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Yoshidahonmachi, Sakyo-ku, Kyoto 606-8501, Japan
A control system for an autonomous robot, which consists of several cooperative modules whose combination and structures change dynamically through interaction with environment, is discussed in this paper. We propose a method to design a control system by modular learning based on Lyapunov design method. In our method, modules that have different property and the dynamic relations between modules to achieve the task are learned. Numerical simulations and flight experiment of an autonomous aero-robot demonstrate the effectiveness of the proposed method.
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