{"id":16640,"date":"2018-03-09T09:04:21","date_gmt":"2018-03-09T09:04:21","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/sistema-de-control-para-robots-moviles-autonomos-basado-en-habilidades-reactivas\/"},"modified":"2018-03-09T09:04:21","modified_gmt":"2018-03-09T09:04:21","slug":"sistema-de-control-para-robots-moviles-autonomos-basado-en-habilidades-reactivas","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/sistema-de-control-para-robots-moviles-autonomos-basado-en-habilidades-reactivas\/","title":{"rendered":"Sistema de control para robots m\u00f3viles aut\u00f3nomos basado en habilidades reactivas"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Mar\u00eda  Jes\u00fas L\u00f3pez Boada <\/strong><\/h2>\n<p>Un robot m\u00f3vil debe ser capaz de adaptarse de manera flexible a cambios que se produzcan en el entorno sin necesidad de decirle qu\u00e9 hacer en cada momento. Su aptitud para el cambio va a depender de c\u00f3mo est\u00e9n distribuidas las capacidades de deliberaci\u00f3n y reacci\u00f3n con \u00e9l. La arquitectura de control h\u00edbrida ad se basa en la forma en la que se organizan los procesos mentales humanos y consta de dos niveles. Deliberativo y autom\u00e1tico. Se pretende el desarrollo del nivel autom\u00e1tico de la arquitectura ad, que permite al robot disponer de la necesaria reactividad para responder r\u00e1pidamente a cambios que se produzcan en el entorno. Las habilidades autom\u00e1ticas incluyen las capacidades de percepci\u00f3n y acci\u00f3n del robot y por acciones reflejas que permiten al robot responder de manera prioritaria ante determinados est\u00edmulos. Se define una estructura gen\u00e9rica para habilidades que facilita su programaci\u00f3n, integraci\u00f3n y modificaci\u00f3n en la arquitectura de control de manera que no afecte al resto de los componentes que constituyan dicha arquitectura. Se proponen tres m\u00e9todos diferentes de generaci\u00f3n de habilidades complejas a partir de habilidades ya existentes, denominadas secuenciaci\u00f3n, adici\u00f3n de salidas y flujo de datos. Estos tres m\u00e9todos no son excluyentes. se propone un algoritmo de aprendizaje por refuerzo, basado en redes neuronales, que permite a un roboto m\u00f3vil aprender habilidades sensorimotoras autom\u00e1ticas sencillas. El algoritmo de aprendizaje propuesto trabaja con espacios de entrada y salida continuos y se\u00f1al de refuerzo continua.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Sistema de control para robots m\u00f3viles aut\u00f3nomos basado en habilidades reactivas<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Sistema de control para robots m\u00f3viles aut\u00f3nomos basado en habilidades reactivas <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Mar\u00eda  Jes\u00fas L\u00f3pez Boada <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Carlos III de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 26\/04\/2002<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>caballero Salichs S\u00e1nchez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Carlos Balaguer bernaldo de quir\u00f3s <\/li>\n<li>Fernando Morilla Garc\u00eda (vocal)<\/li>\n<li>Jes\u00fas Manuel De la cruz Garc\u00eda (vocal)<\/li>\n<li>Antonio Barrientos cruz (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Mar\u00eda Jes\u00fas L\u00f3pez Boada Un robot m\u00f3vil debe ser capaz de adaptarse de manera flexible a cambios [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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