Taming the Beast: Guided Self-organization of Behavior in Autonomous Robots

Martius, Georg; Herrmann, J. Michael

doi:10.1007/978-3-642-15193-4

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Taming the Beast: Guided Self-organization of Behavior in Autonomous Robots

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Martius, Georg
Department of Nonlinear Dynamics, Max Planck Institute for Dynamics and Self-Organization, Max Planck Society;

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Herrmann, J. Michael
Department of Nonlinear Dynamics, Max Planck Institute for Dynamics and Self-Organization, Max Planck Society;

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引用

Martius, G., & Herrmann, J. M. (2010). Taming the Beast: Guided Self-organization of Behavior in Autonomous Robots. In S., Doncieux, B., Girard, A., Guillot, J., Hallam, J.-A., Meyer, & J.-B., Mouret (Eds.), From Animals to Animats 11 (pp. 50-61). Heidelberg: Springer.

引用: https://hdl.handle.net/11858/00-001M-0000-0029-129B-0

要旨

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.