Taming the beast: guided self-organization of behavior in autonomous robots

Authors:
Georg Martius;J. Michael Herrmann
Affiliations:
Bernstein Center for Computational Neuroscience Göttingen, Göttingen, Germany and Institute for Nonlinear Dynamics, Univ. of Göttingen, Göttingen, Germany and Max Planck Instit ...;Bernstein Center for Computational Neuroscience Göttingen, Göttingen, Germany and Institute for Nonlinear Dynamics, University of Göttingen, Göttingen, Germany and University o ...
Venue:
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
Year:
2010

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Abstract

Self-organizing processes are crucial for the development of living beings. Practical applications in robots may benefit from the self-organization of behavior, e.g. for the increased fault tolerance and enhanced flexibility provided that external goals can also be achieved. We present several methods for the guidance of self-organizing control by externally prescribed criteria. We show that the degree of self-organized explorativity of the robot can be regulated and that problem-specific error functions, hints, or abstract symbolic descriptions of a goal can be reconciled with the continuous robot dynamics.