abstract: In order to deploy autonomous multi-robot teams for humanitarian demining in Colombia, two key problems need to be addressed. First, a robotic controller with limited power that can completely cover a dynamic search area is needed. Second, the Colombian National Army (COLAR) needs to increase its science, technology and innovation (STI) capacity to help develop, build and maintain such robots. Using Thangavelautham's (2012, 2017) Artificial Neural Tissue (ANT) control algorithm, a robotic controller for an autonomous multi-robot team was developed. Trained by a simple genetic algorithm, ANT is an artificial neural network (ANN) controller with a sparse, coarse coding network architecture and adaptive activation functions. Starting from the exterior of open, basic geometric grid areas, computer simulations of an ANT multi-robot team with limited time steps, no central controller and limited a priori information, covered some areas completely in linear time, and other areas near completely in quasi-linear time, comparable to the theoretical cover time bounds of grid-based, ant pheromone, area coverage algorithms. To mitigate catastrophic forgetting, a new learning method for ANT, Lifelong Adaptive Neuronal Learning (LANL) was developed, where neural network weight parameters for a specific coverage task were frozen, and only the activation function and output behavior parameters were re-trained for a new coverage task. The performance of the LANL controllers were comparable to training all parameters ab initio, for a new ANT controller for the new coverage task.
To increase COLAR's STI capacity, a proposal for a new STI officer corps, Project ÉLITE (Equipo de Líderes en Investigación y Tecnología del Ejército) was developed, where officers enroll in a research intensive, master of science program in applied mathematics or physics in Colombia, and conduct research in the US during their final year. ÉLITE is inspired by the Israel Defense Forces Talpiot program. / Dissertation/Thesis / Doctoral Dissertation Applied Mathematics for the Life and Social Sciences 2019
| Identifer | oai:union.ndltd.org:asu.edu/item:55488 |
| Date | January 2019 |
| Contributors | Kwon, Byong (Author), Castillo-Chavez, Carlos (Advisor), Thangavelautham, Jekanthan (Committee member), Seshaiyer, Padmanabhan (Committee member), Arizona State University (Publisher) |
| Source Sets | Arizona State University |
| Language | English |
| Detected Language | English |
| Type | Doctoral Dissertation |
| Format | 117 pages |
| Rights | http://rightsstatements.org/vocab/InC/1.0/ |
Page generated in 0.0016 seconds