The use of hierarchies for action selection
Adaptive Behavior
On the stability of projected dynamical systems
Journal of Optimization Theory and Applications
On contraction analysis for non-linear systems
Automatica (Journal of IFAC)
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Actor-Critic Models of Reinforcement Learning in the Basal Ganglia: From Natural to Artificial Rats
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Theoretical Neuroscience: Computational and Mathematical Modeling of Neural Systems
Theoretical Neuroscience: Computational and Mathematical Modeling of Neural Systems
An adaptive robot motivational system
SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior
Importing the computational neuroscience toolbox into neuro-evolution-application to basal ganglia
Proceedings of the 12th annual conference on Genetic and evolutionary computation
An integrated neuromimetic model of the saccadic eye movements for the psikharpax robot
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
Emergence of memory in neuroevolution: impact of selection pressures
Proceedings of the 14th annual conference companion on Genetic and evolutionary computation
Collective stability of networks of winner-take-all circuits
Neural Computation
Hedonic value: enhancing adaptation for motivated agents
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
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Action selection, the problem of choosing what to do next, is central to any autonomous agent architecture. We use here a multi-disciplinary approach at the convergence of neuroscience, dynamical system theory and autonomous robotics, in order to propose an efficient action selection mechanism based on a new model of the basal ganglia. We first describe new developments of contraction theory regarding locally projected dynamical systems. We exploit these results to design a stable computational model of the cortico-baso-thalamo-cortical loops. Based on recent anatomical data, we include usually neglected neural projections, which participate in performing accurate selection. Finally, the efficiency of this model as an autonomous robot action selection mechanism is assessed in a standard survival task. The model exhibits valuable dithering avoidance and energy-saving properties, when compared with a simple if-then-else decision rule.