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Attentive Monitoring Strategies in a Behavior-Based Robotic System: An Evolutionary Approach

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4 Author(s)
Burattini, E. ; DSF, Univ. of Naples Federico II, Naples, Italy ; Finzi, A. ; Rossi, S. ; Staffa, M.

In this paper, we propose an evolutionary approach to develop an attentive executive control system for a robotic agent. We consider a behavior-based system endowed with simple attentional mechanisms that regulate sensors sampling rates and action activations. In this context, the overall emergent attentive behavior is specified by a finite set of parameters regulating a process of adaptation w.r.t. the internal processes and the external environment. In this work, we propose the deployment of a Differential Evolution algorithm to set these parameters. As a case study, we consider an agent operating in an adaptation and survival domain. The collected results show that the generated attentional control systems perform better then the hand-tuned ones and are general enough to remain effective and robust when deployed in different environments.

Published in:

Emerging Security Technologies (EST), 2010 International Conference on

Date of Conference:

6-7 Sept. 2010