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Modeling Hydra Behavior Using Methods Founded in Behavior-Based Robotics

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3.2. Patterns of movement 11chemical substance [62]. However, by mak<strong>in</strong>g use of time dimension, they are ableto sample a gradient which can be used to reorient movement.Taxes: Direct gradient follow<strong>in</strong>g. Gradient ascent (or descent) <strong>in</strong> response to a perceiveddirected stimulus.Navigation: More complex orientation of movement is found e.g. <strong>in</strong> hom<strong>in</strong>g pigeons,which use the sun as a compass to f<strong>in</strong>d the direction of their home location. Beesand ants, for example, use landmarks to guide them on their routes. These morecomplex navigation strategies will not be considered <strong>in</strong> this project, but the <strong>in</strong>terestedreader is referred to e.g. [36, 39, 40, 60].

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