Applications of concurrent neuromorphic algorithms for autonomous robotsThis article provides an overview of studies at the Oak Ridge National Laboratory (ORNL) of neural networks running on parallel machines applied to the problems of autonomous robotics. The first section provides the motivation for our work in autonomous robotics and introduces the computational hardware in use. Section 2 presents two theorems concerning the storage capacity and stability of neural networks. Section 3 presents a novel load-balancing algorithm implemented with a neural network. Section 4 introduces the robotics test bed now in place. Section 5 concerns navigation issues in the test-bed system. Finally, Section 6 presents a frequency-coded network model and shows how Darwinian techniques are applied to issues of parameter optimization and on-line design.
Document ID
19880051456
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Barhen, J. (California Institute of Technology, Jet Propulsion Laboratory, Pasadena; Oak Ridge National Laboratory TN, United States)
Dress, W. B. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Jorgensen, C. C. (Oak Ridge National Laboratory TN, United States)