Internal States

SensoryData

Learn/Act

Action Development

Action Selection

Action[1]

Action[2]

Action[N]

Action[i](being developed)

Action[i]

Environment

ActionCombining

Internal States

SensoryData

Learn/Act

Action Development

Action Selection

Seek

Follow

Acquired(always runs)

Action being developed.

(Seek, Follow,Acquire) 0/1 Acquire

Heading adjustment

Speed adjustment

Environment

Front of Robot(Oriented at 90 degrees)

Right Sensor(Oriented at 45 degrees)

Left Sensor(Oriented at 135 degrees)

Sound Source

D0D1

Signal Strength at Right Sensor = Sound Source Intensity/D1^2

Signal Strength at Left Sensor = Sound Source Intensity/D0^2

Input from left acoustic sensor Input from right acoustic sensor

Input layer to hiddenlayer weights

Transfer function

Hidden layer to outputlayer weights

Heading adjustment Speed adjustment

Lead robot in a line of n = 12 robots. It is manually controlled.

Follower robots. Id = 1 to n-1. Each is controlled by a feed-forward neural network. Each robotfollows the robot whose id is one less than its own.

Id = 0

Id = 1

Id = 2

Id = 3

Id = 11

Line Formation.

Lead robot. Id = 0

Modified tree Formation.

Id = 3

Id = 4 Id = 5 Id = 6 Id = 7

Id = 2

Follower robots. Id = 1 to n-1. Each is controlled by a feed-forward neural network. Each robotfollows the robot whose id is its owndivided by 2. Id = 1