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Fuzzy Q-Learning Integration to RoboSoccer Presented by Alp Sardağ

Fuzzy Q-Learning Integration to RoboSoccer Presented by Alp Sardağ. Inputs for Goal Keeper FIS. Distance to ball Offset Heading In case the ball not in the region of sight, the location tracking algorithm will provide the necessary info. FIS. FIS Update Rule.

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Fuzzy Q-Learning Integration to RoboSoccer Presented by Alp Sardağ

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  1. Fuzzy Q-Learning Integration toRoboSoccer Presented by Alp Sardağ

  2. Inputs for Goal Keeper FIS • Distance to ball • Offset Heading • In case the ball not in the region of sight, the location tracking algorithm will provide the necessary info.

  3. FIS

  4. FIS Update Rule The ideal form of error calculation: The approximated error:

  5. FIS Update Rule Both update rules are Widrow-Hoff rule:

  6. Exploration-Exploitation Technique • Mixed search : directed+undirected

  7. Undirected Part Reducing sf will reduce the undirected part.

  8. Directed Part

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