Enhanced constructs for perceptual stimuli and behavioral combination in reactive systems

Thomas R. Collins

doi:10.1117/12.417303

2 March 2001 Enhanced constructs for perceptual stimuli and behavioral combination in reactive systems

Thomas R. Collins

Proceedings Volume 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII; (2001) https://doi.org/10.1117/12.417303
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

A new approach is presented that aids in the specification of behaviors in a reactive architecture by establishing the value of categorizing motor schemas in four distinct classes, based in part upon the perceptual features which drive them. One of these classes encompasses much of the prior work in guidance behaviors, and here we show in simulation how valuable such behaviors are in minimizing difficulties during the parameterization process of other behaviors. Guidelines for schema gains are derived from basic principles for each of the four classes, and notional concepts of GUI interfaces are provided that take advantage of the guidelines. Although some of these issues have been addressed in other ways, the approach described here focuses on computationally efficient mechanisms that work in the true spirit of reactive control and can complement learning methods and hybrid architectures in general.

Citation Download Citation

Thomas R. Collins "Enhanced constructs for perceptual stimuli and behavioral combination in reactive systems", Proc. SPIE 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, (2 March 2001); https://doi.org/10.1117/12.417303

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