Abstract
This paper deals with the problem of how motion control can be achieved in very simple systems under a minimal number of preconditions. The system's design is therefore as minimal as possible, reflecting the basal reflex arc as observed in biological systems. The model for the movement of the agent is a multiplicatively modified random walk, and thus does not represent a diffusion process of the Langevin type. The mobile agent shows a fast, reliable homing behavior toward a defined area, and finally stays in some defined neighborhood of this area. Moreover, obstacle avoidance is shown to be an immediate result of the system's properties.
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Abbreviations
- S :
-
sensory pole
- E :
-
effector pole
- I :
-
intermediary component
- Q :
-
spatial coordinates
- P :
-
momentum
- D0:
-
a rotation matrix
- α:
-
a random angle
- R :
-
the real number space
- x :
-
internal state
- g(Q):
-
internal function state
- X :
-
internal state set
- Y :
-
subset of the internal state set
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Reimann, S., Mansour, A. Orientation by weighted randomness. Artif Life Robotics 4, 119–123 (2000). https://doi.org/10.1007/BF02480866
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DOI: https://doi.org/10.1007/BF02480866