Applying neural networks in autonomous systems

Allison L. Thornbrugh; J. Daniel Layne; James M. Wilson III

doi:10.1117/12.56746

1 March 1992 Applying neural networks in autonomous systems

Allison L. Thornbrugh, J. Daniel Layne, James M. Wilson III

Proceedings Volume 1612, Cooperative Intelligent Robotics in Space II; (1992) https://doi.org/10.1117/12.56746
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

Autonomous and teleautonomous operations have been defined in a variety of ways by different groups involved with remote robotic operations. For example, Conway describes architectures for producing intelligent actions in teleautonomous systems. Applying neural nets in such systems is similar to applying them in general. However, for autonomy, learning or learned behavior may become a significant system driver. Thus, artificial neural networks are being evaluated as components in fully autonomous and teleautonomous systems. Feed- forward networks may be trained to perform adaptive signal processing, pattern recognition, data fusion, and function approximation -- as in control subsystems. Certain components of particular autonomous systems become more amenable to implementation using a neural net due to a match between the net's attributes and desired attributes of the system component. Criteria have been developed for distinguishing such applications and then implementing them. The success of hardware implementation is a crucial part of this application evaluation process. Three basic applications of neural nets -- autoassociation, classification, and function approximation -- are used to exemplify this process and to highlight procedures that are followed during the requirements, design, and implementation phases. This paper assumes some familiarity with basic neural network terminology and concentrates upon the use of different neural network types while citing references that cover the underlying mathematics and related research.

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Allison L. Thornbrugh, J. Daniel Layne, and James M. Wilson III "Applying neural networks in autonomous systems", Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); https://doi.org/10.1117/12.56746

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KEYWORDS

Neural networks

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Robotics

Space robots

Mars

Pattern recognition

Computing systems

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