. Travers-ee-d-'un-passage-etroit-par-le-robot, La valeur du champ de r epulsion est adapt ee automatiquement aegure en haut a droitee. La aegure en bas a gauche repr esente l' evolution au cours du temps de la distance s eparant le robot du but, p.82

. Travers-ee-d-'un-passage-etroit-par-le-robot, La valeur du champ de r epulsion est gard ee constante aegure en haut a droitee. La aegure en bas a gauche repr esente l' evolution au cours du temps de la distance s eparant le robot du but, :, p.83

. Situation-classique-de-blocage, 123 TABLE DES FIGURES 5.17 D eaenition des fonctions d'appartenance des donn ees linguistiques pr esentes dans la partie condition des r egles, p.125

. Pr-esence-d-'un, La aegure de gauche repr esente les donn ees perceptives utilis ee. La aegure de droite repr esente les degr es d'activation des r egles, p.133

C. Structure-d-'un-r-eseau, Chaque neurone de la couche d'entr ee repr esente un point de l'espace X, p.165

. Utilisation-de-la-d-eriv-ee-aaen, La aegure de gauche repr esente la fonction que l'on cherche a apprendre. La aegure centrale correspond a la fonction apprise en utilisant uniquementlavaleur en trois points. La aegure de droite correspond a la fonction apprise en utilisantlavaleur ainsi que la pente en ces points, :, p.221

. Environnement-d-'exp-erimentation, Le robot doit rejoindre son but a partir du point B Au bout de quelques essais, il apprend ane plus p en etrer dans la zone A, p.223

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