From Animals To Animats 3: SAB'94
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From Animals to Animats 3
Proceedings of the Third International Conference on Simulation of Adaptive Behavior
August 8-12, 1994, Brighton, England
edited by Dave Cliff, Philip Husbands, Jean-Arcady Meyer, and Stewart W. Wilson
"The animat approach is attractive not just as a way of developing and testing theories of biological systems. It also constitutes an approach to the design of practical artificial systems in particular robots, which, it is hoped, will overcome many of the limitations of more conventional methods within artificial intelligence and engineering. The interplay between biological and engineering concerns and the commonality between research from both perspectives is one of the most promising aspects of animat research and is an intriguing theme throughout the book." - The Quarterly Journal of Experimental Psychology (review of the first proceedings volume)From Animals to Animats 3 brings together research intended to advance the frontier of an exciting new approach to understanding intelligence. The contributors represent a broad range of interests from artificial intelligence and robotics to ethology and the neurosciences. Unifying these approaches is the notion of "animat" - an artificial animal, either simulated by a computer or embodied in a robot, which must survive and adapt in progressively more challenging environments. The 58 contributions focus particularly on well-defined models, computer simulations, and built robots in order to help characterize and compare various principles and architectures capable of inducing adaptive behavior in real or artificial animals.
- Topics include:
- Individual and collective behavior.
- Neural correlates of behavior.
- Perception and motor control.
- Motivation and emotion.
- Action selection and behavioral sequences.
- Ontogeny, learning, and evolution.
- Internal world models and cognitive processes.
- Applied adaptive behavior.
- Autonomous robots.
- Heirarchical and parallel organizations.
- Emergent structures and behaviors.
- Problem solving and planning.
- Goal-directed behavior.
- Neural networks and evolutionary computation.
- Characterization of environments.
- A Bradford Book
- 608 pp.
- ISBN 0-262-53122-4
- 608 pp.
CONTENTS
Preface x
THE ANIMAT APPROACH TO ADAPTIVE BEHAVIOR
From SAB90 to SAB94: Four Years of Animat Research 2
Jean-Arcady Meyer and Agnes Guillot
Mechanism and Process in Animal Behavior: Models of Animals, Animals as Models 12
Herbert L. Roitblat
Coherent Behavior from Many Adaptive Processes 22
Rodney A. Brooks
Stability in Adaptation and Learning 30
Jean-Jacques E. Slotine
PERCEPTION AND MOTOR CONTROL
Modeling the Role of Cerebellum in Prism Adaptation 36
Michael A. Arbib, Nicolas Schweighofer, and W. T. Thach
Robotic Experiments in Cricket Phonotaxis 45
Barbara Webb
How to Watch Your Step: Biological Evidence and an Initial Model 55
Patrick R. Green
On Why Better Robots Make It Harder 64
Tim Smithers
Insect Vision and Olfaction:
Different Neural Architectures for Different Kinds of Sensory Signal? 73
D. Osorio, Wayne M. Getz, and Jurgen Rybak
The Interval Reduction Strategy for Monitoring Cupcake Problems 82
Paul R. Cohen, Marc S. Atktin and Eric A. Hansen
Visual Control of Altitude and Speed in a Flying Agent 91
Fabrizo Mura and Nicolas Franceschini
ACTION SELECTION AND BEHAVIORAL SEQUENCES
What Is Cognitive and What Is Not Cognitive? 102
Frederick Toates
Action-Selection in Hamsterdam: Lessons from Ethology 108
Bruce Blumberg
Behavioral Dynamics of Escape and Avoidance: A Neural Network Approach 118
Nestor A. Schmajuk
Organizing an Animat's Behavioural Repertoires Using Kohonen Feature Maps 128
Nigel Ball
Action Selection for Robots in Dynamic Environments through Inter- Behaviour Bidding 138
Michael K. Sahota
MOTIVATION AND EMOTION
An Hierarchical Classifier System Implementing a Motivationally Autonomous Animat 144
Jean-Yves Donnart and Jean-Arcady Meyer
Using Second Order Neural Connections for Motivation of Behavioral Choices 154
Gregory M. Werner
INTERNAL WORLD MODELS AND COGNITIVE PROCESSES
Spatial Learning and Representation in Animats 164
Tony J. Prescott
Location Recognition in Rats and Robots 174
William D. Smart and John Hallam
Emergent Functionality in Human Infants 179
Julie C. Rutkowska
Connectionist Environment Modelling in a Real Robot 189
William Chesters and Gillian Hayes
A Hybrid Architecture for Learning Continuous Environmental Models in Maze Problems 198
A. G. Pipe, T. C. Fogarty, and A. Winfield
A Place Navigation Algorithm Based on
Elementary Computing Procedures and Associative Memories 206
Simon Benhamou, Pierre Bovet, and Bruno Poucet
Self-Organizing Topographic Maps and Motor Planning 214
Pietro Morasso and Vittorio Sanguineti
The Effect of Memory Length on the Foraging Behavior of a Lizard 221
Sharoni Shafir and Jonathan Roughgarden
CHARACTERIZATION OF ENVIRONMENTS
The Blind Breeding the Blind: Adaptive Behavior without Looking 228
Peter M. Todd, Stewart W. Wilson, Anil B. Somayaji, and Holly A. Yanco
Memoryless Policies: Theoretical Limitations and Practical Results 238
Michael L. Lithnan
LEARNING
A Comparison of Q-Learning and Classifier Systems 248
Marco Dorigo and Hugues Bersini
Paying Attention to What's Important.
Using Focus of Attention to Improve Unsupervised Learning 256
Leonard N. Foner and Pattie Maes
Learning Efficient Reactive Behavioral Sequences from
Basic Reflexes in a Goal-Directed Autonomous Robot 266
Jose del R. Millan
The Importance of Leaky Levels for Behavior-Based AI 275
Gregory M. Saunders, John F. Kolen, and Jordan B. Pollack
A Topological Neural Map for On-Line Learning:
Emergence of Obstade Avoidance in a Mobile Robot 282
Philippe Gaussier and Stephane Zrehen
Reinforcement Tuning of Action Synthesis and Selection in a 'Virtual Frog' 291
Simon Giszter
Achieving Rapid Adaptations in Robots by Means of External Tuition 301
Ulrich Nehmzow and Brendan McGonigle
Two-Link-Robot Brachiation with Connectionist Q-Learning 309
Fuminori Saito and Toshio Fukuda
An Architecture for Learning to Behave 315
Ashley M. Aitken
Reinforcement Learning for Homeostatic Endogenous Variables 325
Hugues Bersini
An Architecture for Representing and Learning Behaviors by Trial and Error 334
Pascal Blanchet
A Distributed Adaptive Control System for a Quadruped Mobile Robot 344
Bruce L. Digney and M. M. Gupta
Reinforcement Learning with Dynamic Covering of State-Action Space:
Partitioning Q-Learning 354
Remi Munos and Jocelyn Patinel
The Five Neuron Trick: Using Classical Conditioning to Learn How to Seek Light 364
Tom Scutt
Adaptation in Dynamic Environments through a Minimal Probability of Exploration 371
Gilles Venturini
EVOLUTION
Integrating Reactive, Sequential, and Learning Behavior Using
Dynamical Neural Networks 382
Brian Yamauchi and Randall Beer
Seeing the Light: Artificial Evolution, Real Vlsion 392
Inman Haruey, Phil Husbands, and Daue Cliff
Evolution of Corridor Following Behavior in a Noisy World 402
Craig W. Reynolds
Protean Behavior in Dynamic Games:
Arguments for the Co-Evolution of Pursuit-Evasion Tactics 411
Geoffrey F. Miller and Dave Cliff
Automatic Creation of an Autonomous Agent:
Genetic Evolution of a Neural-Network Driven Robot 421
Dario Floreano and Francesco Mondada
The Effect of Parasitism on the Evolution of a Communication Protocol
in an Artificial Life Simulation 431
Phil Robbins
COLLECTIVE BEHAVIOR
Towards Robot Cooperation 440
David McFarland
A Case Study in the Behavior-Oriented Design of Autonomous Agents 445
Luc Steels
Learning to Behave Socially 453
Maja J. Mataric
Signalling and Territorial Agression:
An Investigation by Means of Synthetic Behavioral Ecology 463
Peter de Bourcier and Michael Wheeler
Integration of Reactive and Telerobotic Control in Multi-Agent Robotic Systems 473
Ronald C. Arkin and Khaled S. Ali
MINIMEME: Of Life and Death in the Noosphere 479
Stephane Bura
Learning Coordinated Motions in a Competition for Food between Ant Colonies 487
Masao Kubo and Yukinori Kakazu
APPLIED ADAPTIVE BEHAVIOR
Emergent Colonization and Graph Partitioning 494
Pascale Kuntz and Dominique Snyers
Diversity and Adaptation in Populations of Clustering Ants 501
Erik D. Lumer and Baldo Faieta
Author Index 509