Modular Learning based on Lyapunov Design Method for Control System of Autonomous Robot

M. Bando and H. Nakanishi (Japan)


Modular learning, Reinforcement learning, Designing control system, Autonomous robot


A control system for an autonomous robot, which consists of several cooperative modules whose combination and structures change dynamically through interaction with en vironment, 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 can learn local dynamics and form suitable relation according to the situation by our method. Numerical simulations and flight experiment of an autonomous aero-robot demonstrate the effectiveness of the proposed method.

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