An Architecture of Emotion-Based Behavior Selection For Mobile Robots

Tadashi Kitamura, Prof. Dr. Eng.

Department of Mechanical System Engineering
College of Computer Science and System Engineering
Kyushu Institute of Technology

Dienstag, 31.07.2001, 10 Uhr c.t., D6-135
This talk will be about the Consciousness-based Architecture (CBA) my lab has developed and its applications. CBA is a software architecture that has a six-layered hierarchy of robot's internal states to link emotion-based behaviors including reflex action, approach, detour to symbolic behaviors such as ambush with use of media in an environment. The design principle of CBA is that CBA should have functions/structure which make it possible to reflect user's own subjective experiences in behavior design. On this principle, CBA enables a designer to map his/her subjective reflection about his/her behavior selection process to CBA in terms of emotion. In CBA, therefore, while the use of objective knowledge about human/animal behaviors is limited to the evolutionary framework of CBA, we follow technically Husserlian Phenomenology to describe internal states of the architecture using components of human consciousness, such as emotion and perception, rather than physical, endogenous parameters. In CBA, a level of behavior is chosen at which an emotion-based degree of the consciousness is maximal, and a behavior at the chosen level is selected to maximize the criterion of pleasure. The model design has been tested using Khepera robots. Results of behavior experiments will be shown with a limited use of temporal and spatial information about an environment. Computer simulation of CBA-driven animats competition will be also shown on my laptop.

sfb-logo Zur Startseite Erstellt von: Anke Weinberger (2001-07-20).
Wartung durch: Anke Weinberger (2001-07-27).