5b - Robot Behaviours Flashcards
What is the definition of behaviour?
The way in which an animal or person behaves in response to a particular situation or stimulus
How can multiple behaviours be used?
Different behaviours can be combined into complex “emergent behaviours”
What are Braitenberg’s Vehicles?
Building seemingly complex behaviours from simple interactions
What is Braitenberg’s Vehicle 1?
Getting Around
1 sensor, 1 motor
actuation proportional to sensor response
What is Braitenberg’s Vehicle 2?
Fear and Aggression
Excitatory connections
What is Braitenberg’s Vehicle 3?
Love
Inhibitory connections
How can multi-sensory robots be created?
By adding new sensors with changing profiles, new transfer functions, and varying excitatory and inhibitory connectivity
What is the basic idea of neural networks in Braitenberg’s vehicles?
Reformulate the multi-sensory Braitenberg vehicle as a neural network
What are the 4 parts to a neural network?
Inputs = sensor responses
Outputs = motor velocities
Training = target outputs provided by human teacher
Delta rule
How can you combine robot behaviours?
Coordination/fusion via vector summation
Name 4 problems with combining multiple behaviours
Does not directly scale to other environments
Underlying procedures must be carefully designed to produce the desired behaviour
Sequencing - how to coordinate the order of behaviours in time
Concurrent behaviours - how to coordinate behaviours at the same time
Discuss sequencing and finite state machines?
Finite State Machines can model the behaviour of the system with a discrete number of states (behaviours) and conditional state transitions based on perceptions. Actions are associated with states
