Hierarchical behavior categorization using correlation based adaptive resonance theory

Date

2012-02-01

Author

Yavaş, Mustafa
Alpaslan, Ferda Nur

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

217
views

0
downloads

This paper introduces a new model for robot behavior categorization. Correlation based adaptive resonance theory (CobART) networks are integrated hierarchically in order to develop an adequate categorization, and to elicit various behaviors performed by the robot. The proposed model is developed by adding a second layer CobART network which receives first layer CobART network categories as an input, and back-propagates the matching information to the first layer networks. The first layer CobART networks categorize self-behavior data of a robot or an object in the environment while the second layer CobART network categorizes the robot's behavior with respect to its effect on the object. Experiments show that the proposed model generates reasonable categorization of behaviors being tested. Moreover, it can learn different forms of the behaviors, and it can detect the relations between them. In essence, the model has an expandable architecture and it contains reusable parts. The first layer CobART networks can be integrated with other CobART networks for another categorization task. Hence, the model presents a way to reveal all behaviors performed by the robot at the same time.

Subject Keywords

Robot behavior categorization, Machine learning, Adaptive resonance theory

URI

https://hdl.handle.net/11511/49226

Journal

NEUROCOMPUTING

DOI

https://doi.org/10.1016/j.neucom.2011.08.022

Collections

Department of Computer Engineering, Article

Suggestions

OpenMETU
Core

Behavior Categorization Using Correlation Based Adaptive Resonance Theory YAVAŞ, mustafa; Alpaslan, Ferda Nur (2009-06-26) This paper presents a new method of categorizing robot behavior, which is based on a variation of Correlation Based Adaptive Resonance Theory (CobART) learning. CobART is a type of ART 2 network and its main contribution is the usage of correlation analysis methods for category matching. This study uses derivation based correspondence and Euclidian distance as correlation analysis methods for behavior categorization. Tests show that the proposed method generates better results than ART 2 categorization even...
Simple and complex behavior learning using behavior hidden Markov model and CobART Seyhan, Seyit Sabri; Alpaslan, Ferda Nur; Yavaş, Mustafa (2013-03-01) This paper proposes behavior learning and generation models for simple and complex behaviors of robots using unsupervised learning methods. While the simple behaviors are modeled by simple-behavior learning model (SBLM), complex behaviors are modeled by complex-behavior learning model (CBLM) which uses previously learned simple or complex behaviors. Both models include behavior categorization, behavior modeling, and behavior generation phases. In the behavior categorization phase, sensory data are categoriz...
Hierarchical behavior categorization using correlation based adaptive resonance theory Yavaş, Mustafa; Alpaslan, Ferda Nur; Department of Computer Engineering (2011) This thesis introduces a novel behavior categorization model that can be used for behavior recognition and learning. Correlation Based Adaptive Resonance Theory (CobART) network, which is a kind of self organizing and unsupervised competitive neural network, is developed for this purpose. CobART uses correlation analysis methods for category matching. It has modular and simple architecture. It can be adapted to different categorization tasks by changing the correlation analysis methods used when needed. Cob...
Mobile Robot Heading Adjustment Using Radial Basis Function Neural Networks Controller and Reinforcement Learning BAYAR, GÖKHAN; Konukseven, Erhan İlhan; Koku, Ahmet Buğra (2008-10-28) This paper proposes radial basis function neural networks approach to the Solution of a mobile robot heading adjustment using reinforcement learning. In order to control the heading of the mobile robot, the neural networks control system have been constructed and implemented. Neural controller has been charged to enhance the control system by adding some degrees of strength. It has been achieved that neural networks system can learn the relationship between the desired directional heading and the error posi...
Simple and complex behavior learning using behavior hidden Markov Model and CobART Seyhan, Seyit Sabri; Alpaslan, Ferda Nur; Department of Computer Engineering (2013) In this thesis, behavior learning and generation models are proposed for simple and complex behaviors of robots using unsupervised learning methods. Simple behaviors are modeled by simple-behavior learning model (SBLM) and complex behaviors are modeled by complex-behavior learning model (CBLM) which uses previously learned simple or complex behaviors. Both models have common phases named behavior categorization, behavior modeling, and behavior generation. Sensory data are categorized using correlation based...

Citation Formats

M. Yavaş and F. N. Alpaslan, “Hierarchical behavior categorization using correlation based adaptive resonance theory,” NEUROCOMPUTING, pp. 71–81, 2012, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/49226.