Using reflexes to speed ANN learning in an autonomous mobile robot

We introduce a novel control architecture for Autonomous Mobile Robots called the Reflexive Instructor (RI) with Deliberate Apprentice (DA). The architecture employs simple reinforcement signals provided by the RI component to train the DA. The DA is responsible for providing control signals to the agent's actuators based on received sensor input. The RI provides a measure of safety in this respect as it is responsible for taking over control …