Ethology as an Inspiration for Adaptive Behavior Synthesis in Autonomous Planetary Rovers

Authors:
Edward Tunstel
Affiliations:
Robotic Vehicles Group, Jet Propulsion Laboratory, Pasadena, CA 91109, USA. tunstel@robotics.jpl.nasa.gov
Venue:
Autonomous Robots
Year:
2001

Citing 4
Cited 3

Intelligent behaviour in animals and robots

Intelligent behaviour in animals and robots
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SAB94 Proceedings of the third international conference on Simulation of adaptive behavior : from animals to animats 3: from animals to animats 3
An ethological model for implementation in mobile robots

Adaptive Behavior
Biologically Inspired Autonomous Rover Control

Autonomous Robots

Biologically Inspired Autonomous Rover Control

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Integration of reactive utilitarian navigation and topological modeling

Autonomous robotic systems
Hybridizing evolutionary computation and reinforcement learning for the design of almost universal controllers for autonomous robots

Neurocomputing

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Abstract

A navigation and control approach that supports adaptive behavior in rovers is presented. It is motivated by ethological models that suggest hierarchical organizations of behavior. The methodology employs fuzzy logic as a means to emulate animal behavior control mechanisms such as behavior activation levels, multi-behavior modulation, and threshold activation. The paper describes how these concepts can be tailored for autonomous navigation to provide a suitable framework for situated adaptation in rover control algorithms. In addition, an interesting characteristic of observed behavioral interactions achieved by an implementation of the approach is discussed, which is analogous to phenomena observed in measurements of animal brain activity during transitions between distinct behaviors.