Learning to Coordinate Behaviors

Abstract

We describe an algorithm which allows a behavior-based robot to learn on the basis of positive and negative feedback when to activate its behaviors. In accordance with the philosophy of behavior-based robots, the algorithm is completely distributed: each of the behaviors independently tries to find out (i) whether it is relevant (ie. whether it is at all correlated to positive feedback) and (ii) what the conditions are under which it becomes reliable (i.e. the conditions under which it maximizes the probability of receiving positive feedback and minimizes the probability of receiving negative feedback). The algorithm has been tested successfully on an autonomous 6-legged robot which had to learn how to coordinate its legs so as to walk forward. Situation of the Problem Since 1985, the MIT Mobile Robot group has advocated a radically different architecture for autonomous intelligent agents (Brooks, 1986). Instead of decomposing the architecture into functional modules, such as perception, modeling, and planning (figure 1), the architecture is decomposed into task-achieving modules, also called behaviors (figure 2). This novel approach has already demonstrated to be very successful and similar approaches have become more