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Avtomatika i Telemekhanika, 2022, Issue 6, Pages 53–71
DOI: https://doi.org/10.31857/S0005231022060058
(Mi at15976)
 

This article is cited in 4 scientific papers (total in 4 papers)

Simultaneous learning and planning in a hierarchical control system for a cognitive agent

A. I. Panovab

a Federal Research Center “Computer Science and Control,” Russian Academy of Sciences, Moscow, 119333 Russia
b Moscow Institute of Physics and Technology, Dolgoprudnyi, Moscow oblast, 141701 Russia
References:
Abstract: The tasks of behavior planning and decision-making learning in a dynamic environment are usually divided and considered separately in control systems for intelligent agents. A new unified hierarchical formulation of the problem of simultaneous learning and planning (SLAP) is proposed in the context of object-oriented reinforcement learning, and an architecture of a cognitive agent that solves this problem is described. A new algorithm for learning actions in a partially observed external environment is proposed using a reward signal, an object-oriented subject description of the states of the external environment, and dynamically updated action plans. The main properties and advantages of the proposed algorithm are considered, including the lack of a fixed cognitive cycle necessitating the separation of planning and learning subsystems in earlier algorithms and the ability to construct and update the model of interaction with the environment, thus increasing the learning efficiency. A theoretical justification of some provisions of this approach is given, a model example is proposed, and the principle of operation of a SLAP agent when driving an unmanned vehicle is demonstrated.
Keywords: reinforcement learning, behavior planning, cognitive agent, hierarchical planning, control system, unmanned vehicle, mobile robot.
Funding agency Grant number
Russian Foundation for Basic Research 18-29-22027
This work was supported by the Russian Foundation for Basic Research, project no. 18-29-22027.
Presented by the member of Editorial Board: O. P. Kuznetsov

Received: 31.10.2021
Revised: 09.01.2022
Accepted: 26.01.2022
English version:
Automation and Remote Control, 2022, Volume 83, Issue 6, Pages 869–883
DOI: https://doi.org/10.1134/S0005117922060054
Bibliographic databases:
Document Type: Article
Language: Russian
Citation: A. I. Panov, “Simultaneous learning and planning in a hierarchical control system for a cognitive agent”, Avtomat. i Telemekh., 2022, no. 6, 53–71; Autom. Remote Control, 83:6 (2022), 869–883
Citation in format AMSBIB
\Bibitem{Pan22}
\by A.~I.~Panov
\paper Simultaneous learning and planning in a hierarchical control system for a cognitive agent
\jour Avtomat. i Telemekh.
\yr 2022
\issue 6
\pages 53--71
\mathnet{http://mi.mathnet.ru/at15976}
\crossref{https://doi.org/10.31857/S0005231022060058}
\edn{https://elibrary.ru/ACLEUU}
\transl
\jour Autom. Remote Control
\yr 2022
\vol 83
\issue 6
\pages 869--883
\crossref{https://doi.org/10.1134/S0005117922060054}
Linking options:
  • https://www.mathnet.ru/eng/at15976
  • https://www.mathnet.ru/eng/at/y2022/i6/p53
  • This publication is cited in the following 4 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    Avtomatika i Telemekhanika
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    Abstract page:103
    References:33
    First page:18
     
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