Veröffentlichungen der Universität / Learning and imitation in heterogeneous robot groups

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Learning and imitation in heterogeneous robot groups / Wilhelm Richert. 2009

Content

1 Introduction

2 State of the art

2.1 Learning

2.2 Imitation

2.2.1 Biological background

2.2.2 Imitation in robotics

2.2.3 Contrasting the thesis to the state of the art approaches

3 Architecture for learning and imitating in groups

3.1 Architectural overview

4 Motivation layer

4.1 Background

4.2 Design of a robotic motivation system

4.3 Conclusion

5 Strategy layer

6 Skill layer

6.1 Two modes of operation

6.2 Component description

6.2.1 Skill manager

6.2.2 Model manager

6.2.3 Error minimizer

7 An integrative example

8 Imitation in robot groups

8.7 Conclusion

9 Choice of the imitatee

10 Summary and outlook