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generated theories mutation ís proposed, the definition of each heuristíc is gíven, the limits
of the problem of theories weighting are defíned, a weíghting method is proposed:-
An overview of the acqomplished experimental work is presented : the experimental design,
the variables, the results through graphícs are shown and an interpretation for them ís
províded.
In the conclusions arei indícated the origínal contributions of the paper, are descríbed some
found limitations and are outlined future research work.
2. GENERAL SYSTEM DESCRIPTION
2.1 ENVIRONMENT
It was selected the robot model used by Korsten, Kopeczak and Szapakowicz [1989], the
one which describes the autonomous agents behavior as compared to varíous stages. For
the description of the stages model we base on the model suggested by [Lozano-Perez and
Wesley, 1979; lyengar; and other 1985; Gil de Lamadríd and Gin¡, 1987; Mckendrick, i 988;
Dudek and other 1991 ;i Borenstein and Korent, 1991; Evans and other, 19921, those which
establish to study the Iearning processes, planning and simulatíon two-dimensional stages.
The description of the envíronment can be símulated in a counterfoil in the one whích each
element represents a portion of the space, the one which can be: an obstacle, an energy
*’ point or a poínt of free-to-pass,space by the robot.
2.2 ARCHITECTURE
The system can be desribed as an exploring robot that perceives the envíronment. AS the
situation in the one which is found the system attempts to determine an actíons sequence
that permìt to ít to reach a nearby objectíve, the one which calls plan. Thís sequence is
presented to the evaluator of Plans, who determines its acceptabilíty. The plans controller in
execution is entrusted with verífying that the plan wíll be fulfilled successfully.
All movement of the robot is accompanied of the descriptíon of íts environment, the
conjunction of the action applied to such description and obtaíned the resultíng sítuatíon
make to the apprenticeship of the system. If the knowledge involved in this apprenticeship
already it was learnt it íb reínforced, in other case ís íncorporated and are generated mutant
theories. ,
-. 2.3 SENSORING SYSTEM
The model of the senspring system was extracted and modified from the one proposed by
[Mahadevan and Connell 1992), who suggest a system of 24 sectors, distributed ín three
levels, García Martínez [1992c] suggested that the model had to present 8 Sectors
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