# Show Reference: "Autonomous Intelligent Decision-Making System Based on Bayesian SOM Neural Network for Robot Soccer"

Autonomous Intelligent Decision-Making System Based on Bayesian SOM Neural Network for Robot Soccer Neurocomputing (October 2013), doi:10.1016/j.neucom.2013.08.021 by Bin Chen, An Zhang, Lu Cao
@article{chen-et-al-2013b,
author = {Chen, Bin and Zhang, An and Cao, Lu},
doi = {10.1016/j.neucom.2013.08.021},
issn = {09252312},
journal = {Neurocomputing},
keywords = {bayes, learning, neurorobotics, robot, som, unsupervised-learning},
month = oct,
posted-at = {2013-10-23 09:03:34},
priority = {2},
title = {Autonomous Intelligent {Decision-Making} System Based on Bayesian {SOM} Neural Network for Robot Soccer},
url = {http://dx.doi.org/10.1016/j.neucom.2013.08.021},
year = {2013}
}

Chen et al. presented a system which uses a SOM to cluster states. After learning, the SOM units are extended with a histogram keeping the number of times the unit was BMU and the input belonged to each of a number of known states $$C={c_1,c_2,\dots,c_n}$$.