Robot Cognition and Navigation: An Experiment with Mobile by Srikanta Patnaik

By Srikanta Patnaik

This booklet provides the idea that of cognition in a transparent, lucid and hugely accomplished variety. It presents an in-depth research of mathematical types and algorithms, and demonstrates their program with genuine lifestyles experiments.

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If P is a node, and I is a quadrant, then these fields are referenced as FATHER (P) and SON (P, I), respectively. One can determine the specific quadrant in which a node P lies relative to its father by the use of the function SONTYPE (P), which has the value of I, if SON (FATHER(P),I) = P. For instance assume Fig. 11 is a node named P, and the child node in the NW direction is named as Q. Then FATHER ( Q ) = P. SON( P,NW ) =Q. SONTYPE (P) = NW. North West NW NE SW SE East South Fig. 11. 4 Neighbor-Finding Algorithms for the Quadtree 49 While generating the quadtree the “node status” is stored in every node.

As a result a neural network combines the desirable features of adaptability, robustness and uniformity with representation and inference [Feldman, 1992; Waltz, 1997]. The ANNs adjust the weights of the neurons between different layers during the adaptation cycle. The adaptation cycle is required for updating various parameters of the network, until a state of equilibrium is reached, following which the parameters no longer change. ANNs support both supervised and unsupervised learning as mentioned earlier.

As mentioned earlier, for a mixed node, one can get four immediate children in four directions. These are called NW, NE, SE, and SW, which are below in Fig. 11. If P is a node, and I is a quadrant, then these fields are referenced as FATHER (P) and SON (P, I), respectively. One can determine the specific quadrant in which a node P lies relative to its father by the use of the function SONTYPE (P), which has the value of I, if SON (FATHER(P),I) = P. For instance assume Fig. 11 is a node named P, and the child node in the NW direction is named as Q.

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