?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=DRAMA%2C+a+connectionist+architecture+for+control+and+learning+in+autonomous+robots&rft.creator=Billard%2C+Aude&rft.creator=Hayes%2C+Gillian&rft.subject=Artificial+Intelligence&rft.subject=Neural+Nets&rft.subject=Robotics&rft.subject=Robotics&rft.description=This+work+proposes+a+connectionist+architecture%2C+DRAMA%2C+for+dynamic+control+and+learning+of+autonomous+robots.+DRAMA+stands+for+dynamical+recurrent+associative+memory+architecture.+It+is+a+time-delay+recurrent+neural+network%2C+using+Hebbian+update+rules.+It+allows+learning+of+spatio-temporal+regularities+and+time+series+in+discrete+sequences+of+inputs%2C+in+the+face+of+an+important+amount+of+noise.+The+first+part+of+this+paper+gives+the+mathematical+description+of+the+architecture+and+analyses+theoretically+and+through+numerical+simulations+its+performance.+The+second+part+of+this+paper+reports+on+the+implementation+of+DRAMA+in+simulated+and+physical+robotic+experiments.+Training+and+rehearsal+of+the+DRAMA+architecture+is+computationally+fast+and+inexpensive%2C+which+makes+the+model+particularly+suitable+for+controlling+%60computationally-challenged'+robots.+In+the+experiments%2C+we+use+a+basic+hardware+system+with+very+limited+computational+capability+and+show+that+our+robot+can+carry+out+real+time+computation+and+on-line+learning+of+relatively+complex+cognitive+tasks.+In+these+experiments%2C+two+autonomous+robots+wander+randomly+in+a+fixed+environment%2C+collecting+information+about+its+elements.+By+mutually+associating+information+of+their+sensors+and+actuators%2C+they+learn+about+physical+regularities+underlying+their+experience+of+varying+stimuli.+The+agents+learn+also+from+their+mutual+interactions.+We+use+a+teacher-learner+scenario%2C+based+on+mutual+following+of+the+two+agents%2C+to+enable+transmission+of+a+vocabulary+from+one+robot+to+the+other.&rft.date=1999&rft.type=Journal+(Paginated)&rft.type=PeerReviewed&rft.format=application%2Fpostscript&rft.identifier=http%3A%2F%2Fcogprints.org%2F535%2F2%2FDRAMA.ps&rft.identifier=++Billard%2C+Aude+and+Hayes%2C+Gillian++(1999)+DRAMA%2C+a+connectionist+architecture+for+control+and+learning+in+autonomous+robots.++%5BJournal+(Paginated)%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F535%2F