{"id":25431,"date":"2018-03-09T09:16:49","date_gmt":"2018-03-09T09:16:49","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/a-proposal-of-a-behavior-based-control-architecture-with-reinforcement-learning-for-an-autonomous-underwater-robot\/"},"modified":"2018-03-09T09:16:49","modified_gmt":"2018-03-09T09:16:49","slug":"a-proposal-of-a-behavior-based-control-architecture-with-reinforcement-learning-for-an-autonomous-underwater-robot","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/girona\/a-proposal-of-a-behavior-based-control-architecture-with-reinforcement-learning-for-an-autonomous-underwater-robot\/","title":{"rendered":"A proposal of a behavior-based control architecture with reinforcement learning for an autonomous underwater robot"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Marc Carreras P\u00e9rez <\/strong><\/h2>\n<p>Esta tesis doctoral propone una arquitectura de control para un robot aut\u00f3nomo que deba realizar una misi\u00f3n en un entorno desconocido y no estructurado. en particular, la propuesta presentada en la tesis ha sido aplicada a un robot aut\u00f3nomo submarino. La arquitectura de control esta compuesta por un conjunto de comportamiento independientes, los cuales compiten por el control del robot y consiguen finalmente la realizaci\u00f3n de la misi\u00f3n. En esta tesis se ha propuesto un nuevo esquema de arquitectura de control basado en comportamientos, el cual es una mezcla de otras propuestas y pretende aprovechar las ventajas de cada una de estas.  en una segunda parte, la tesis propone el aprendizaje autom\u00e1tico de cada uno de estos comportamientos utilizando la teor\u00eda de aprendizaje por refuerzo. este tipo de aprendizaje se caracteriza por su aplicabilidad en problemas en los que no se tiene conocimiento del entorno, como en la mayor\u00eda de aplicaciones de rob\u00f3tica. No obstante, el uso del aprendizaje por refuerzo de tareas reales tambi\u00e9n implica la aparici\u00f3n de algunos problemas. La tesis propone un nuevo algoritmo de aprendizaje por refuerzo, el cual soluciona parte de estos problemas.  la tesis analiza cada una de las dos parte haciendo un estudio de las t\u00e9cnicas m\u00e1s importantes que se pueden encontrar en el mundo. Las dos propuestas de la tesis, la arquitectura basada en comportamientos y algoritmo de aprendizaje por refuerzo, fueron evaluadas con conjunto de experimentos reales que demuestran su efectivida. Los experimentos fueron realizados con el robot submario uris desarrollado en la universidad de girona, y son ampliamente detallados en la memoria de la tesis.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>A proposal of a behavior-based control architecture with reinforcement learning for an autonomous underwater robot<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 A proposal of a behavior-based control architecture with reinforcement learning for an autonomous underwater robot <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Marc Carreras P\u00e9rez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Girona<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 16\/09\/2003<\/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>Pere Ridao Rodriguez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: joan Batlle grabulosa <\/li>\n<li>carles Sierra (vocal)<\/li>\n<li>junku Yuhn (vocal)<\/li>\n<li>robert Sutton (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Marc Carreras P\u00e9rez Esta tesis doctoral propone una arquitectura de control para un robot aut\u00f3nomo que deba [&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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