An Behavior-based Robotics
Synaptic Modulation Based Artificial Neural Networks
IWANN '96 Proceedings of the International Workshop on Artificial Neural Networks: From Natural to Artificial Neural Computation
Evolutionary approaches to neural control of rolling, walking, swimming and flying animats or robots
Biologically inspired robot behavior engineering
Achieving Artificial Intelligence through Building Robots
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IWANN '03 Proceedings of the 7th International Work-Conference on Artificial and Natural Neural Networks: Part II: Artificial Neural Nets Problem Solving Methods
Macroevolutionary algorithms: a new optimization method on fitnesslandscapes
IEEE Transactions on Evolutionary Computation
Behavior analysis and training-a methodology for behaviorengineering
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Evolutionary Tool for the Incremental Design of Controllers for Collective Behaviors
IWINAC '07 Proceedings of the 2nd international work-conference on The Interplay Between Natural and Artificial Computation, Part I: Bio-inspired Modeling of Cognitive Tasks
IWINAC '09 Proceedings of the 3rd International Work-Conference on The Interplay Between Natural and Artificial Computation: Part II: Bioinspired Applications in Artificial and Natural Computation
Evolutionary procedure for the progressive design of controllers for collective behaviors
HAIS'11 Proceedings of the 6th international conference on Hybrid artificial intelligent systems - Volume Part II
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Combining previous experience and knowledge to contemplate tasks of increasing complexity is one of the most interesting problems in autonomous robotics. Here we present an ANN based modular architecture that uses the concept of modulation to increase the possibilities of reusing previously obtained modules. A first approximation to the modulation of the actuators was tested in a previous paper where we showed how it was useful to obtain more complex behaviours that those obtained using only activation / inhibition. In this paper we extend the concept to sensor modulation, which enables the architecture to easily modify the required behaviour for a module, we show how both types of modulation can be used at the same time and how the activation / inhibition can be seen as a particular case of modulation. Some examples in a real robot illustrate the capabilities of the whole architecture.