J. R. Koza, "A genetic approach to finding a controller to back up a tractor-trailer truck," in Proc. 1992.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....problem is gaining attention as a simple to understand yet difficult to solve learningcontrol problem. Approaches such as the Cerebellar Model Articulated Controller (CMAC) 18] adaptive fuzzy systems [9, 6] backpropagation through time [14] fuzzy BOXES [20] genetic algorithms [10], and our own ROLNNET [5] have all been applied to versions of this problem. It is difficult to directly compare 0 0.2 0.4 0.6 0.8 1 0 200 400 600 800 1000 Graph of case 1. Average performance for 100 runs of 1000 trials each. Initial position: Rear of second trailer 2 to 5 feet from ....

J. R. Koza. A genetic approach to finding a controller to back up a tractor-trailer truck. In Proc. of the American Control Conference, pp. 2307--2311, 1992.

.... reinforcement learning pole balancer [ Michie and Chambers, 1968 ] and many other reinforcement learning approaches to this same problem [ Russell and Rees, 1975, Barto et al. 1983, Selfridge et al. 1985 ] through reinforcement learning for truck and trailer backing [ Woodcock et al. 1991, Koza, 1992 ] to docking the space shuttle with a satellite [ Jani, 1993 ] More recently, however, there has been interest in reinforcement learning systems that go beyond simulation. In these cases simulation may be used to develop a learning system capable of learning on a real robot (e.g. Benhrahim et ....

Koza, J. R.: 1992, `A Genetic Approach to Finding a Controller to Back Up a Tractor-Trailer Truck'. In: Automatic Control Conference. pp. 2307-2311.

....Kim, Yong Ho, 96] Kimura, Masayuki, 223] Kis, Zoltan, 142] Kocaoglan, E. 126] Kodjabachian, J erome, 144] Kohno, Tadashi, 366] Koide, Seiji, 174] Komata, Y. 312] Konaka, K. 228] Kondo, K. 117] Kondo, Toshiyuki, 141, 222] Konishi, K. 183] Kosuge, Kazuhiro, 357] Koza, John R. [123, 396, 397, 398] Krenz, W. C. 100, 255] Krisch, S. 102] Kuboshiki, Satoru, 171] Kubota, Naoyuki, 65, 175, 275, 276, 279, 281, 318, 321] Kubota, N. 283] Kuc, Tae Yong, 314] Kuhn, W. 399] Kumbla, Kishan K. 273] Kumbla, K. 190] Kuniyoshi, Y. 228] Kuruma, Toshiji, 89] Kwok, D. P. 78, 400] ....

.... analysing GA, 433] application, 48] manufacturing, 14] artificial life, 413] assembly, 298] part feeders, 27] planning, 36] welding, 290] assignment problems, 15] ASTRA, 370] autonomous agents, 119, 137, 161] guided vehicles, 80] mobile robots, 143] robots, 192] autonomous robot, [409, 426, 427, 397, 398, 428, 429, 67] AutonoMouse, 347, 42, 119] autonomouse, 167] bibliography special, 55] bin packing, 48, 43] CAD, 395, 332, 87] manipulators, 260] review in engineering, 52] calibration, 58, 59] robot, 254] CEBOT, 352] cellular automata 1D, 29] classifier implementation AGIL, 429] ....

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John R. Koza. A genetic approach to finding a controller to back up a tractor-trailed truck. In Proceedings of the 1992 American Control Conference, volume 3, pages 2307--2311, Chicago, Illinois, 24. -26. June 1992. American Automatic Control Council. ga:Koza92d.

....Gary J. 391] Kohno, Tadashi, 226] Kolarik, Thomas, 392] Kommu, Venkatarama, 393] Konagaya, Akihiko, 394, 395] Konishi, Koichi, 394] Konstam, Aaron H. 118] Kopfer, Herbert, 396] Kopfer, H. 397] Korf, Richard, 354] Kosuge, Kazuhiro, 231] Kouchi, M. 398] Koza, John R. [399, 400, 401, 402, 403, 404, 405, 406, 407, 408, 409, 410] Krawczyk, Jacek R. 353] Krishnamoorthy, C. S. 576] Kristinsson, Kristinn, 411] Kroger, Berthold, 412, 413, 414] Krone, Jorg, 415] Krovi, Ravindra, 416] Kuhn, W. 417] Kuiper, Herman, 101] Kulkarni, Janardan, 546] Kumar, K. K. 374] Kuntz, P. J. 418] K ffi urka, Petr, ....

.... [317] military, 432] NMR devices, 268] applications potential, 36] Arabic, 680] archeology , 504] art, 607, 639, 640] artificial life, 39, 40, 236, 354, 436, 567, 568, 578, 579, 580] assembly, 435] assortment problem, 241] ASTRA, 266] automata, 419, 606] autonomous robot, [402, 403, 677, 678] AutonoMouse, 169, 170] bibliographies search, 546] bibliography, 337] 1962 1992, 3] applications, 6] bin packing, 186, 187, 364, 380, 412, 413, 414, 688] biology, 407, 408] biomorphs, 346, 350] Boolean multiplexer problem, 583] brachistochrone, 654] breeder GA, 510, 511, ....

[Article contains additional citation context not shown here]

John R. Koza. A genetic approach to finding a controller to back up a tractor-trailed truck. In Proceedings of the 1992 American Control Conference, volume 3, pages 2307--2311, Chicago, Illinois, 24. -26. June 1992. American Automatic Control Council. ga:Koza92d.

....and terminals) not merely a single numerical point in the search space of the problem. The size, shape, and contents of the composition needed to solve the problem is generally not known in advance. The book Genetic Programming: On the Programming of Computers by Means of Natural Selection [Koza 1992a] describes the recently developed genetic programming paradigm and demonstrates that populations of computer programs (i.e. compositions of primitive functions and terminals) can be genetically bred to solve a surprising variety of different problems in a wide variety of different fields. ....

....such as . discovering optimal control strategies (e.g. centering a cart and balancing a broom on a moving cart in minimal time by applying a bang bang force to the cart) Koza and Keane 1990] GENETIC PROGRAMMING 3 . discovering control strategies for backing up a tractor trailer truck [Koza 1992b] discovering inverse kinematic equations to control the movement of a robot arm to a designated target point [Koza 1992a] evolution of a subsumption architecture for robotic control [Koza 1992c] symbolic data to function regression, symbolic integration, symbolic differentiation, and ....

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Koza, John R. A genetic approach to finding a controller to back up a tractor-trailer truck. In Proceedings of the 1992 American Control Conference. Evanston, IL: GENETIC PROGRAMMING 25 American Automatic Control Council 1992. Volume III.

....Kimbrough, Steven O. 279] Kimura, Masayuki, 301] Kinnear, Jr. Kenneth E. 104, 152, 166, 513, 514] Kirkwood, I. M. A. 443] Kiryati, Nahum, 314] Klebus, G. P. 423] Knight, Leslie, 292] Ko, Eun Joung, 190] Koivo, Heikki N. 298] Koppen, M. 310] Korkmaz, E. E. 177] Koza, John R. [9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75] Kozasa, Junji, 76] Kraft, Donald H. 105] Kuhn, Leslie A. 326] Kuscu, Ibrahim, 311] Kvasnicka, Vladim ir, 424, 436] Laane, Lisa A. 206] Laing, James D. 279] Lakner, R. 350] Lamas, Ricardo, 219] Lang, K. J. 307] Langdon, W. B. 312] Langdon, William Benjamin, 361] Langdon, ....

.... applications commercial, 243] art, 525, 526, 527, 528, 529, 157] artificial intelligence, 129] artificial life, 530, 486] artificial reasoning, 329] astronomy sunspots, 304] automata deterministic, 248] finite, 270] pus down, 139] autonomous agents, 477, 205] autonomous robot, [62, 63, 87] BEAGLE, 489, 490] biology, 67, 68, 185] ecosystems, 200] biophysics myoelectric signals, 281] breeding genetic programming, 169] broom balancing, 38, 44, 47] building block hypothesis, 520, 241] building blocks genetic programming, 118] CAD electronics, 164, 27] CAD electronics, ....

[Article contains additional citation context not shown here]

John R. Koza. A genetic approach to finding a controller to back up a tractor-trailed truck. In Proceedings of the 1992 American Control Conference, volume 3, pages 2307--2311, Chicago, Illinois, 24. -26. June 1992. American Automatic Control Council. ga:Koza92d.

....not known in advance. The computer program that solves a given problem is typically a hierarchical composition of various functions and typically takes the state variables of the system as inputs. In Genetic Programming: On the Programming of Computers by Means of Natural Selection and Genetics [Koza 1992a] and elsewhere [Koza 1989, 1992b] we have shown that computer programs can be genetically bred to solve problems in a surprising variety of areas, including . optimal control (e.g. centering a cart and balancing a broom on a moving cart in minimal time by applying a bang bang force to the ....

....computer program that solves a given problem is typically a hierarchical composition of various functions and typically takes the state variables of the system as inputs. In Genetic Programming: On the Programming of Computers by Means of Natural Selection and Genetics [Koza 1992a] and elsewhere [Koza 1989, 1992b] we have shown that computer programs can be genetically bred to solve problems in a surprising variety of areas, including . optimal control (e.g. centering a cart and balancing a broom on a moving cart in minimal time by applying a bang bang force to the cart [Koza and Keane 1990] and ....

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Koza, John R. A genetic approach to finding a controller to back up a tractor-trailer truck. In Proceedings of the 1992 American Control Conference. Evanston, IL: American Automatic Control Council 1992. Pages ---. 1992c.

....they could only be genetically bred in a few especially congenial problem domains, we have shows that computer programs can be genetically bred to solve a surprising variety of problems, including . discovering inverse kinematic equations (e.g. to move a robot arm to designated target points) [Koza 1992a] planning (e.g. navigating an artificial ant along a trail) optimal control (e.g. balancing a broom and backing up a truck) Koza and Keane 1990, Koza 1992d] Boolean function learning [Koza 1989, 1992c] and . classification and pattern recognition (e.g. two intertwined spirals) ....

....variety of problems, including . discovering inverse kinematic equations (e.g. to move a robot arm to designated target points) Koza 1992a] planning (e.g. navigating an artificial ant along a trail) optimal control (e.g. balancing a broom and backing up a truck) Koza and Keane 1990, Koza 1992d] Boolean function learning [Koza 1989, 1992c] and . classification and pattern recognition (e.g. two intertwined spirals) Koza 1992e] A videotape visualization of the application of genetic programming to planning, emergent behavior, empirical discovery, inverse kinematics, and game ....

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Koza, John R. 1992d. A genetic approach to finding a controller to back up a tractor-trailer truck. In Proceedings of the 1992 American Control Conference. American Automatic Control Council 1992.

....of different areas. A videotape visualization of 22 applications of genetic programming can be found in the Genetic Programming: The Movie [9] Specifically, genetic programming has been successfully applied to problems such as . discovering control strategies for backing up a tractortrailer truck [12], discovering optimal control strategies (e.g. centering a cart and balancing a broom on a moving cart in minimal time by applying a bang bang force to the cart) 10, 11] discovering inverse kinematic equations to control the movement of a robot arm to a designated target point [8] ....

Koza, John R. A genetic approach to finding a controller to back up a tractor-trailer truck. In Proceedings of the 1992 American Control Conference. Evanston, IL: American Automatic Control Council 1992. Volume III. Pages 2307-2311.

....and terminals) not merely a single numerical point in the search space of the problem. The size, shape, and contents of the composition needed to solve the problem is generally not known in advance. The book Genetic Programming: On the Programming of Computers by Means of Natural Selection [Koza 1992a] describes the recently developed genetic programming paradigm and demonstrates that populations of computer programs (i.e. compositions of primitive functions and terminals) can be genetically bred to solve a surprising variety of different problems in a wide variety of different fields. ....

....applied to problems such as . discovering optimal control strategies (e.g. centering a cart and balancing a broom on a moving cart in minimal time by applying a bang bang force to the cart) Koza and Keane 1990] discovering control strategies for backing up a tractor trailer truck [Koza 1992b] discovering inverse kinematic equations to control the movement of a robot arm to a designated target point [Koza 1992a] evolution of a subsumption architecture for robotic control [Koza 1992c] symbolic data to function regression, symbolic integration, symbolic differentiation, and ....

[Article contains additional citation context not shown here]

Koza, John R. A genetic approach to finding a controller to back up a tractortrailer truck. In Proceedings of the 1992 American Control Conference.

....112, 164, 169, 34, 203] Jacob, C. 86] Jannink, Jan, 204] Jiang, Minga, 205, 22] Johnson, Michael Patrick, 185] Jones, A. 26] Jong, Kenneth A. De, 143] Keane, Martin A. 206, 207, 158, 208] Keith, Mike J. 209] Kinnear, Jr. Kenneth E. 69, 210, 211, 157, 151] Koza, John R. [70, 19, 212, 60, 9, 213, 214, 215, 41, 216, 120, 104, 117, 217, 206, 42, 161, 166, 50, 218, 219, 220, 51, 207, 54, 55, 221, 222, 146, 127, 123, 134, 223, 224, 46, 225, 226, 10, 227, 228, 136, 48, 49, 11, 39, 47, 53, 52, 158, 159, 152, 208, 229] Kozasa, Junji, 176] Kraft, Donald H. 71] Langdon, William B. 113] Lay, Ming Yi, 72] Lent, Brian, 94] Leung, K. S. 106] Liang, Minga, 230] Lott, Christopher G. 95] Maes, Pattie, 185] Marengo, Luigi, 43] Marko, Kenneth A. 182] Martin, Martin C. 209] Masand, Brij, ....

....have been omitted in this list because of their high occurrence rate. application computer graphics, 20, 8] control, 206] art, 14, 128, 238, 20, 8, 170] artificial intelligence, 239] artificial life, 129, 132] automata pus down, 102] autonomous agents, 44] autonomous robot, [227, 228, 234] BEAGLE, 16, 187] biology, 11, 39] breeding genetic programming, 241] broom balancing, 206, 219, 207] building block hypothesis, 40] classification text, 231] classifiers, 169] comparison hand coded classifiers, 231] hand coded strategies, 173] hill climbing, 38] scheduling ....

[Article contains additional citation context not shown here]

John R. Koza. A genetic approach to finding a controller to back up a tractor-trailed truck. In Proceedings of the 1992 American Control Conference, volume 3, pages 2307--2311, Chicago, Illinois, 24. -26. June 1992. Amarican Automatic Control Council. ga:Koza92d.

....Use genetic programming to generate better low level controllers. Genetic programming has had success in developing control laws for (nonlinear ) systems [ Koza, 1992b ] For example, genetic programming was used to induce a control for backing a tractor trailer truck into a spot in simulation [ Koza, 1992a ] The program which we would be trying to induce would have as an input the same error variables as before and the output would be the control decision. Genetic programming has the advantage of being an iterative improvement algorithm which could start with our current form and parameters and ....

John R. Koza. A genetic approach to finding a controller to back up a tractor-trailer truck. In Proceedings of the 1992 American Control Conference, volume III, pages 2307--2311, Evanston, IL, 1992. American Automatic Control Council.

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J. R. Koza, "A genetic approach to finding a controller to back up a tractor-trailer truck," in Proc. 1992.

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