Schilling, Malte: Decentralization and Hierarchical Organization for Control of Adaptive and Cognitive Behavior in Autonomous Robots. 2021
Inhalt
- Abstract
- Preface
- Introduction
- Decentralization and Modularization – Motor Control Hierarchies
- Embodiment
- Hierarchical Organization in Biological Motor Control
- Hierarchical Organization in Technical Approaches
- Decentralization in Biological Motor Control
- Walknet – a Decentralized Control Architecture
- Results Overview
- Conclusions
- List of Publications
- Learning of Adaptive Behavior in a Decentralized Fashion
- Hierarchical Representation in Robotics
- The Advantage of Decentralized Control
- Decentralized Deep Reinforcement Learning
- Reinforcement Learning
- Decentralized Motor Control Architecture
- A Centralized Approach as a Baseline
- Policy Network
- Results Overview
- Conclusions
- List of Publications
- Hierarchical Internal Body Models — Grounding in Adaptive Behavior
- From Adaptive to Cognitive Behavior
- Internal Body Models
- Mean of Multiple Computation Principle
- Extension towards a Hierarchical Body Model
- Conclusions
- List of Publications
- Embodied Internal Simulation as Planning Ahead
- Recruitment of Grounded Internal Models
- Structure of the Cognitive Expansion
- Results Overview
- Conclusions
- List of Publications
- Discussion and Conclusion
- Overview Articles in Appendix
- Bibliography