Bayesian Programming and Hierarchical Learning in Robotics

Abstract

This paper presents a new robotic programming environment based on the probability calculus. We show how reactive behaviours, like obstacle avoidance, contour following, or even light following, can be programmed and learned by a Khepera robot with our system. We further demonstrate that behaviours can be combined either by programmation or learning. A homing behaviour is thus obtained by combining obstacle avoidance and light following.