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Automated synthesis of action selection policies for unmanned vehicles operating in adverse environments |
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| Authors: | Petr Svec Satyandra K Gupta |
| Affiliation: | 1. Simulation Based System Design Laboratory, Department of Mechanical Engineering, University of Maryland, College Park, MD, 20742, USA 2. Simulation Based System Design Laboratory, Maryland Robotics Center, Department of Mechanical Engineering and Institute for Systems Research, University of Maryland, College Park, MD, 20742, USA |
| Abstract: | We address the problem of automated action selection policy synthesis for unmanned vehicles operating in adverse environments. We introduce a new evolutionary computation-based approach using which an initial version of the policy is automatically generated and then gradually refined by detecting and fixing its shortcomings. The synthesis technique consists of the automated extraction of the vehicle’s exception states and Genetic Programming (GP) for automated composition and optimization of corrective sequences of commands in the form of macro-actions to be applied locally. |
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