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Simultaneous planning and action: neural-dynamic sequencing of elementary behaviors in robot navigation

Artikel i vetenskaplig tidskrift
Författare E. Billing
Robert Lowe
Y. Sandamirskaya
Publicerad i Adaptive Behavior
Volym 23
Nummer/häfte 5
Sidor 243-264
ISSN 1059-7123
Publiceringsår 2015
Publicerad vid Institutionen för tillämpad informationsteknologi (GU)
Sidor 243-264
Språk en
Länkar dx.doi.org/10.1177/1059712315601188
Ämnesord Dynamic field theory, goal directed behavior, simultaneous planning and action, freely moving rats, entorhinal cortex, field-theory, spatial navigation, cognitive maps, place cells, direction, systems, model, representation, Computer Science, Psychology, Social Sciences
Ämneskategorier Data- och informationsvetenskap

Sammanfattning

A technique for simultaneous planning and action based on dynamic field theory is presented. The model builds on previous work on representation of sequential behavior as attractors in dynamic neural fields. Here, we demonstrate how chains of competing attractors can be used to represent dynamic plans towards a goal state. The present work can be seen as an addition to a growing body of work that demonstrates the role of dynamic field theory as a bridge between low-level reactive approaches and high-level symbol processing mechanisms. The architecture is evaluated on a set of planning problems using a simulated e-puck robot, including analysis of the system's behavior in response to noise and temporary blockages of the planned route. The system makes no explicit distinction between planning and execution phases, allowing continuous adaptation of the planned path. The proposed architecture exploits the dynamic field theory property of stability in relation to noise and changes in the environment. The neural dynamics are also exploited such that stay-or-switch action selection emerges where blockage of a planned path occurs; stay until the transient blockage is removed versus switch to an alternative route to the goal.

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