Modeling Hydra Behavior Using Methods Founded in Behavior-Based Robotics

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26 Chapter 6. Models and methods✲AC❄✲ TF ✲ ✲✲Set AC✲ T/F✲Reset AC❄✲ TF ✲ ✲Figure 6.3: Behavioral modules in the CSA. The (motivational) input determines whether the ACgenerates a true or false signal. A true signal from the AC shuts the gate, and thus passes the signalfrom the TF to the output of the behavioral module. The top panel shows a situation-driven AC,where the state of the AC depends only on the present input. In the bottom panel an event-drivenAC is illustrated. The event-driven AC (within the dashed box) is of set/reset character, i.e. oneinput configuration sets the AC, while another condition resets it.
Chapter 7Results and discussionIn this chapter the resulting behavioral model of Hydra is presented. The process of modelingthe overall behavior of Hydra was carried out in two steps: (1) Generation of theconstituent behaviors involved in Hydra’s overall behavior. Using the CSA, this amountsto defining an appropriate AC as well as a TF for each behavior. (2) Generation of thebehavioral organizer, i.e. organizing the constituent behaviors into layers, and definingthe interacting connections. The two steps were carried out independently of each other.This chapter starts with a presentation of the results concerning each of the constituentbehaviors, and concludes with a description of the overall behavior of the simulated Hydra.7.1 Generation of behaviorsThe four constituent behaviors of Hydra, as described in Section 5.1.3, were generated independentlyof each other. However, as mentioned in Section 6.1.1, the behavioral outputof B1-B3 share some characteristics, namely how Hydra should allocate its time betweencontracted and extended states, as well as in locomotion, depending on the animal’s motivationalstate. Thus, the transfer functions of B1-B3 share the task of evoking a CP or anLP, whichever is applicable, at the appropriate point in time, assuming that the particularbehavior is the active one.It should be noted that each behavior is a self-contained unit, operating only at a locallevel. Hence, a behavioral unit is not supplied with any information concerning the otherbehaviors included in the implemented behavior repertoire. It is therefore worth stressingthat, while the applicability clause of each behavior determines whether the output fromits transfer function should be active or not, the selection of which behavioral output thatis finally passed on to the actuators is carried out by the behavioral organizer. The resultsfrom the generation of the ACs as well as the TFs for each of the constituent behaviors in27
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Page 11 and 12: Table of Contents1 Introduction 11.
Page 13: Table of ContentsviiB Recurrent neu
Page 16 and 17: 2 Chapter 1. Introductione.g. in [1
Page 18 and 19: 4 Chapter 1. Introduction1.3 Outlin
Page 20 and 21: 6 Chapter 2. NotationUpper-case let
Page 22 and 23: 8 Chapter 3. Animal behaviorPsychol
Page 24 and 25: 10 Chapter 3. Animal behaviorperiod
Page 27 and 28: Chapter 4Behavior-based roboticsAs
Page 29 and 30: Chapter 5HydraThis chapter presents
Page 31 and 32: 5.1. Hydra as a model organism 17ce
Page 33 and 34: Chapter 6Models and methodsIn this
Page 35 and 36: 6.1. The simulated system 21Contrac
Page 37 and 38: 6.1. The simulated system 23Table 6
Page 39: 6.3. Constituent behaviors 25Releas
Page 43 and 44: 7.1. Generation of behaviors 29Expe
Page 45 and 46: 7.1. Generation of behaviors 31wher
Page 47 and 48: 7.1. Generation of behaviors 33....
Page 49 and 50: 7.1. Generation of behaviors 35Tabl
Page 51 and 52: 7.1. Generation of behaviors 374504
Page 53 and 54: 7.1. Generation of behaviors 39Tran
Page 55 and 56: 7.2. Generation of behavioral organ
Page 57: 7.2. Generation of behavioral organ
Page 60 and 61: 46 Chapter 8. Summary and conclusio
Page 62 and 63: 48 Bibliography[11] BÄCK, T., FOGE
Page 64 and 65: 50 Bibliography[41] MITCHELL, M., A
Page 66 and 67: 52 Bibliography[69] WATSON, J., Beh
Page 68 and 69: 54 Appendix A. Evolutionary algorit
Page 71 and 72: Appendix BRecurrent neural networks
Page 73: Appendix B. Recurrent neural networ

Modeling Hydra Behavior Using Methods Founded in Behavior-Based Robotics

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