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Proceedings Paper

Enhanced constructs for perceptual stimuli and behavioral combination in reactive systems
Author(s): Thomas R. Collins
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Paper 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.

Paper Details

Date Published: 2 March 2001
PDF: 12 pages
Proc. SPIE 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, (2 March 2001);
Show Author Affiliations
Thomas R. Collins, Georgia Institute of Technology (United States)

Published in SPIE Proceedings Vol. 4195:
Mobile Robots XV and Telemanipulator and Telepresence Technologies VII
Matthew R. Stein; Howie M. Choset; Douglas W. Gage; Matthew R. Stein, Editor(s)

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