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260                                    Autonomous Mobile Robots

                                         0.9

                                         0.8
                                         0.7
                                         0.6
                                        NN weights  0.5

                                         0.4

                                         0.3
                                         0.2

                                         0.1
                                          0
                                           0      0.5     1     1.5      2     2.5      3
                                                              Time (sec)

                                FIGURE 6.3 Responses of the norm of the NN weights.




                                         0.8
                                         0.7

                                         0.6
                                         0.5
                                         0.4    z 2
                                       z
                                         0.3
                                         0.2

                                         0.1
                                               z 1
                                          0

                                        – 0.1
                                            0     0.5     1      1.5     2      2.5     3
                                                               Time (sec)

                                FIGURE 6.4  Responses of the internal states z.






                                 © 2006 by Taylor & Francis Group, LLC



                                FRANKL: “dk6033_c006” — 2006/3/31 — 16:42 — page 260 — #32
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