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The impact of cybernetics on the design of a mobile robot system: a case study

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1 Author(s)
R. C. Arkin ; Sch., of Inf. & Comput. Sci., Georgia Inst. of Technol., Atlanta, GA, USA

The design of an autonomous robot architecture is analyzed in light of the cognitive psychological, neuroscientific, and ethological studies that influenced its development. Motor schema-based navigation and its relationship to models of detour behavior in amphibians is described. Application of the action-perception cycle in the context of action-oriented perception is discussed, with particular emphasis on the role of expectations as focus-of-attention mechanisms. The process of homeostatic control as a means of dynamically modifying motor behavior based on internal sensing is also described. These approaches are substantiated throughout with simulation studies and actual mobile robot experiments

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IEEE Transactions on Systems, Man, and Cybernetics  (Volume:20 ,  Issue: 6 )