From Animals to Animats 2: SAB'92

From Animals to Animats 2

Proceedings of the Second International Conference on Simulation of Adaptive Behavior

More than sixty contributions in From Animals to Animats 2 by researchers in ethology, ecology, cybernetics, artificial intelligence, robotics, and related fields investigate behaviors and the underlying mechanisms that allow animals and, potentially, robots to adapt and survive in uncertain environments. Topics covered: The Animat Approach to Adaptive Behavior. Perception and Motor Control. Action Selection and Behavioral Sequences. Cognitive Maps and Internal World Models. Learning. Evolution. Collective Behavior.

• Topics covered:
• The Animat Approach to Adaptive Behavior.
• Perception and Motor Control.
• Action Selection and Behaviorial Sequences.
• Cognitive Maps and Internal World Models.
• Learning.
• Evolution.
• Collective Behavior.

Complex Adaptive Systems series. A Bradford Book

ISBN 0-262-63149-0

536 pp.

CONTENTS

Preface x

THE ANIMAT APPROACH TO ADAPTIVE BEHAVIOR

Behavior-Based Artificial Intelligence 2

Pattie Maes

Environment Structure and Adaptive Behavior From the Ground Up 11

Peter M. Todd and Stewart W. Wilson

Evolutionary Wanderlust: Sexual Selection with Directional Mate Preferences 21

Geoffrey F. Miller and Peter M. Todd

Designing Efficiently Navigating Non-Goal-Directed Robots 31

Rolf Pfeifer and Paul F. M. J. Verschure

PERCEPTION AND MOTOR CONTROL

Anuran Visuomotor Coordination for Detour Behavior: From Retina to Motor Schemas 42

Michael A. Arbib and Hyun Bong Lee

Artificial Neural Nets for Controlling a 6-Legged Walking System 52

Holk Cruse, Uwe Müller-Wilm, and Jeffrey Dean

A Neural Network Based Behavior Hierarchy for Locomotion Control 61

Sunil Cherian and Wade 0. Troxell

A Qualitative Dynamical Analysis of Evolved Locomotion Controllers 71

John C. Gallagher and Randall D. Beer

Neuronal Parameter Maps and Signal Processing 81

Richard A. Altes

Representation and Processing of Acoustic Information in a Biomimetic Neural Network 90

Herbert L. Roitblat, Patrick W. B. Moore, David A. Helweg, and Paul E. Nachtigall

An Integrated Computational Model of a Perceptual-Motor System 100

William R. Uttal, Thomas Shepherd, Sriram Dayanand, and Robb Lovell

Reactive Behaviors of Fast Mobile Robots in Unstructured Environments:

Sensor-Based Control and Neural Networks 108

R. Zapata, P. Lepinay, C. Novales, and P. Deplanques

The Adaptive Nature of 3D Perception 116

Allen Brookes

Propulsion and Guidance in a Simulation of the Worm C. Elegans 122

Ralph Hartley

A Simple, Cheap, and Robust Visual Navigation System 129

Ian Horswill

ACTION SELECTION AND BEHAVIORAL SEQUENCES

The Use of Hierarchies for Action Selection 138

Toby Tyrrell

Two Methods for Hierarchy Learning in Reinforcement Environments 148

Mark Ring

Should I Stay or Should I Go: Coordinating Biological Needs with

Continuously-updated Assessments of the Environment 156

Liane M. Gabora

Extensions of the Associative Control Process (ACP) Network:

Hierarchies and Provable Optimality 163

Leemon C. Baird In and A. Harry Klopf

Behavior Networks and Force Fields for Simulating Spinal Reflex Behaviors of the Frog 172

Simon Giszter

The Ariadne's Clew Algorithm 182

Emmanuel Mazer, Juan Manuel Ahuactzin, El- Ghazali Talbi, and Pierre Bessiere

Dynamic Selection of Action Sequences 189

Feliz Ribeiro, Jean-Paul Barthes, and Eugenio Oliveira

Planning Simple Trajectories Using Neural Subgoal Generators 196

Jurgen Schmidhuber and Reiner Wahnsiedler

A Note on Rate-Sensitive Habituation 203

J. E. R. Staddon

COGNITIVE MAPS AND INTERNAL WORLD MODELS

Categorization, Representations, and The Dynamics of System-Environment Interaction:

A Case Study in Autonomous Systems 210

Paul F. M. J. Verschure and Rolf Pfeifer

A Directional Spreading Activation Network for Mobile Robot Navigation 218

David Kortenkamp and Eric Chown

Memorizing and Representing Route Scenes 225

Saburo Tsuff and Shigang Li

Building Long-Range Cognitive Maps Using Local Landmarks 233

Tony J. Prescott and John E. W. Mayhew

Dynamics of Spatial Navigation: An Adaptive Neural Network 243

Nestor A. Schmajuk and H. T. Blair

LEARNING

Modeling Nervous System Function with a Hierarchical Network of

Control Systems That Learn 254

A. Harry Klopf, James S. Morgan, and Scott E. Weaver

An Optimization-Based Categorization of Reinforcement Learning Environments 262

Michael L. Littman

Reinforcement Learning with Hidden States 271

Long-Ji Lin and Tom M. Mitchell

Efficient Learning and Planning within the Dyna Framework 281

Jing Peng and Ronald J. Williams

Increasing Behavioural Repertoire in a Mobile Robot 291

Ulrich Nehmzow, Tim Smithers, and Brendan McGonigle

Learning Biped Robot Obstacle Crossing 298

Thomas Ulrich Vogel

Learning to Control an Autonomous Robot by Distributed Genetic Algorithms 305

Marco Colombetti and Marco Dorigo

Temporary Memory for Examples Can Speed Learning in a Simple Adaptive System 313

Lawrence Davis, Stewart Wilson, and David Orvosh

Implementing Inner Drive Through Competence Reflection 321

Alexander Linden and Frank Weber

Dynamic Flight Control with Adaptive Coarse Coding 327

Bruce E. Rosen and James M. Goodwin

Learning via Task Decomposition 337

Josh Tenenberg, Jonas Karlsson, and Steven Whitehead

EVOLUTION

Neural Networks with Motivational Units 346

Federico Cecconi and Domenico Parisi

Evolutionary Learning of Predatory Behaviors Based on Structured Classifiers 356

Hitoshi Iba, Hugo de Garis, and Tetsuya Higuchi

Issues in Evolutionary Robotics 364

Inman Harvey, Philip Husbands, and Dave Cliff

Evolving Visually Guided Robots 374

Dave Cliff, Philip Husbands, and Inman Harvey

An Evolved, Vision-Based Behavioral Model of Coordinated Group Motion 384

Craig W. Reynolds

Evolution of Herding Behavior in Artificial Animals 393

Gregory M. Werner and Michael G. Dyer

An Evolutionary Approach to Cognition 400

Dwight Deugo and Franz Oppacher

Emergence of Nest-Based Foraging Strategies in Ecosystems of Neural Networks 410

Dario Floreano

Evolving Hardware with Genetic Learning:

A Filst Step Towards Building a Darwin Machine 417

Tetsuya Higuchi, Tatsuya Niwa, Toshio Tanaka, Hitoshi Iba, Hugo de Garis,

and Tatsumi Furuya

Evolving Artificial Insect Brains for Artificial Compound Eye Robotics 425

Luis R. Lopez and Robert E. Smith

COLLECTIVE BEHAVIOR

Designing Emergent Behaviors: From Local Interactions to Collective Intelligence 432

Maja J. Mataric

Adaptive Action Selection for Cooperative Agent Teams 442

Lynne E. Parker

From Tom Thumb to the Dockers: Some Experiments with Foraging Robots 451

Alexis Drogoul and Jacgues Ferber

Collective Robotic Intelligence 460

C. Ronald Kube and Hong Zhang

Collective Choice of Strategic Type 469

Chisato Numaoka and Akikazu Takeuchi

An Adaptive Communication Protocol for Cooperating Mobile Robots 478

Holly Yanco and Lynn Andrea Stein

Dimensions of Communication and Social Organization in Multi-Agent Robotic Systems 486

Ronald C. Arkin and J. David Hobbs

Evolution of Trading Strategies Among Heterogeneous Artificial Economic Agents 494

Andrea Beltratti and Sergio Margarita

Action Selection and Learning in Multi-Agent Environments 502

Gerhard Weiss

ONE-PAGE SUMMARIES

Structure from Associative Learning 512

John H. Andreae, Shaun W. Ryan, and Mark L. Tomlinson

The Roots of Motivation 513

Christian Balkenius

Learning Continuous-Space Navigation Heuristics in Real Time 514

Gregory D. Benson and Armand Prieditis

The Adaptive Power of Affect: Learning in the SESAME Architecture 515

Eric Chown

Model of a Behaviour Based Control Architecture 516

Luis Correia and A. Steiger-Garçao

Comparing Robot and Animal Behavior 517

Bridget Hallam and Gillian Hayes

An Embodied Neurally-Based Algorithm for Optimal Action Selection 518

Owen Holland and Martin Snaith

Why Should We Build Artificial Worms and How? 519

Oded Maler

Creative Perception 520

M. A. Rodrigues and M. H. Lee

Collective Behavior of Silicon Microrobots 521

Isao Shimoyama, Toshio Watanabe, Yoshihiko Kuwana, and Hirofumi Miura

An Analog VLSI Model of Central Pattern Generation in the Medicinal Leech 522

Micah S. Siegel

Author Index 523

18:18 GMT; 22/03/08

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