COMBINING REINFORCEMENT LEARNING AND GENETIC ALGORITHMS TO LEARN BEHAVIOURS IN MOBILE ROBOTICS

R. Iglesias, M. Rodríguez, C. V. Regueiro, J. Correa, S. Barro

2006

Abstract

Reinforcement learning is an extremely useful paradigm which is able to solve problems in those domains where it is difficult to get a set of examples of how the system should work. Nevertheless, there are important problems associated with this paradigm which make the learning process more unstable and its convergence slower. In our case, to overcome one of the main problems (exploration versus exploitation trade off), we propose a combination of reinforcement learning with genetic algorithms, where both paradigms influence each other in such a way that the drawbacks of each paradigm are balanced with the benefits of the other. The application of our proposal to solve a problem in mobile robotics shows its usefulness and high performance, as it is able to find a stable solution in a short period of time. The usefulness of our approach is highlighted through the application of the system learnt through our proposal to control the real robot.

Paper Citation

in Harvard Style

Iglesias R., Rodríguez M., V. Regueiro C., Correa J. and Barro S. (2006). COMBINING REINFORCEMENT LEARNING AND GENETIC ALGORITHMS TO LEARN BEHAVIOURS IN MOBILE ROBOTICS . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 188-195. DOI: 10.5220/0001209501880195

in Bibtex Style

@conference{icinco06,
author={R. Iglesias and M. Rodríguez and C. V. Regueiro and J. Correa and S. Barro},
title={COMBINING REINFORCEMENT LEARNING AND GENETIC ALGORITHMS TO LEARN BEHAVIOURS IN MOBILE ROBOTICS},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={188-195},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001209501880195},
isbn={978-972-8865-60-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - COMBINING REINFORCEMENT LEARNING AND GENETIC ALGORITHMS TO LEARN BEHAVIOURS IN MOBILE ROBOTICS
SN - 978-972-8865-60-3
AU - Iglesias R.
AU - Rodríguez M.
AU - V. Regueiro C.
AU - Correa J.
AU - Barro S.
PY - 2006
SP - 188
EP - 195
DO - 10.5220/0001209501880195