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首页> 外文期刊>Adaptive Behavior >On the Coupling Between Agent Internal and Agent/Environmental Dynamics: Development of Spatial Representations in Evolving Autonomous Robots
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On the Coupling Between Agent Internal and Agent/Environmental Dynamics: Development of Spatial Representations in Evolving Autonomous Robots

机译：关于Agent内部与Agent /环境动力学之间的耦合：不断发展的自主机器人中空间表示的发展

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In this article we describe how a population of evolving robots can autonomously develop forms of spatial representation which allow them to self-localize and to discriminate different locations of their environment by integrating sensory-motor information over time. The evolving robots also display a remarkable ability to generalize their skill in new environmental conditions that they have never experienced before. The analysis of the obtained results indicates that the evolved robots come up with simple and robust solutions that exploit quasi-periodic limit cycle dynamics emerging from the coupling between the robot/environmental dynamics and a robot's internal dynamics. More specifically, the variations of a robot's internal states are governed by transient dynamical processes originating from the fact that these internal states tend to slowly approximate fixed attractor points, corresponding to different types of sensory states that last for a limited time duration and alternate while the robot moves in the environment.
机译：在本文中，我们描述了一群不断发展的机器人如何自动发展形式化的空间表示形式，从而使它们能够随着时间的推移整合感觉运动信息来自我定位并区分环境的不同位置。不断发展的机器人还展现出了非凡的能力，可以在从未有过的新环境中推广自己的技能。对获得的结果的分析表明，进化后的机器人提出了简单而健壮的解决方案，这些解决方案利用了准周期性极限循环动力学，该极限周期性动力学是由机器人/环境动力学与机器人内部动力学之间的耦合产生的。更具体地说，机器人内部状态的变化由瞬态动力学过程控制，瞬态动力学过程源于以下事实：这些内部状态往往会缓慢地逼近固定的吸引点，这对应于持续有限时间段并交替变化的感觉状态的不同类型。机器人在环境中移动。

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