Departmental Papers (ESE)


The concept of an automaton operating in a multi-teacher environment is introduced, and several interesting questions that arise in this context are examined. In particular, we concentrate on the consequences of adding a new teacher to an existing n-teacher set as it affects the choice of a switching strategy. The effect of this choice on expediency and speed of convergence is presented for a specific automaton structure.

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version

August 1977


Copyright 1977 IEEE. Reprinted from IEEE Transactions on Systems, Man and Cybernetics, Volume 7, Issue 8, August 1977, pages 616-624.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.



Date Posted: 14 July 2008

This document has been peer reviewed.