Evolvable Reactive Execution System using Reconfigurable Hardware: a Robot Navigation System Case Study
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BibTeX
@MISC{Keymeulen_evolvablereactive,
author = {Didier Keymeulen and Kenji Konaka and Masaya Iwata and Yasuo Kuniyoshi and Tetsuya Higuchi},
title = {Evolvable Reactive Execution System using Reconfigurable Hardware: a Robot Navigation System Case Study},
year = {}
}
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Abstract
Recently there has been great interest in the design and study of evolvable systems in order to control the behavior of physically embedded systems. Due to the complexity of their architecture and their interaction with the environment, a Model-based Autonomous System approach was proposed by Williams to integrate a priori knowledge and reasoning methods of different kinds (Williams & Nayak 1996a). But the difficulty of precomputing all possible interactions obliges also the autonomous system to self configure itself by modifying its own structure as well as self modeling by adapting or even building a model using for example sensor information. This paper examines the architecture of a self configuration component of a model-based autonomous system using a evolvable hardware (EHW). The self configure component is applied to a navigation system for a mobile robot. It uses a Boolean function approach implemented on gate-level reconfigurable hardware. The task of the mobile robot is to r...
