The society of mind
Self-modeling in humanoid soccer robots
Robotics and Autonomous Systems
Proceedings of the 11th Annual Conference Companion on Genetic and Evolutionary Computation Conference: Late Breaking Papers
Towards self-reflecting machines: two-minds in one robot
ECAL'09 Proceedings of the 10th European conference on Advances in artificial life: Darwin meets von Neumann - Volume Part I
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We explore robot behavior recovery through a process akin to self-reflection. A robot contains two controllers: A primary "innate" reactive controller, and a secondary "reflective" controller that can observe, model and control the primary controller. The reflective controller adapts the innate controller without access to the innate controller's internal state or architecture. Instead, the reflective controller models the innate controller and then synthesizes input/output filters that adapt the innate controller's existing capabilities to new situations. The innate controller is subjected to a variety of sensory, motor, and internal control damage scenarios. The reflective controller diagnoses the level of failure using a self-model and the observed sensorimotor time-series data and is able to recover performance.