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Integration of Navigation and Action Selection Functionalities in a Computational Model of Cortico-Basal-Ganglia-Thalamo-Cortical Loops

机译：在Cortico-Basal-Ganglia-Thalamo-皮质环的计算模型中导航和动作选择功能的集成

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摘要

This article describes a biomimetic control architecture affording an animat both action selection and navigation functionalities. It satisfies the survival constraint of an artificial metabolism and supports several complementary navigation strategies. It builds upon an action selection model based on the basal ganglia of the vertebrate brain, using two interconnected cortico-basal-ganglia-thalamo-cortical loops: A ventral one concerned with appetitive actions and a dorsal one dedicated to consummatory actions. The performances of the resulting model are evaluated in simulation. The experiments assess the prolonged survival permitted by the use of high-level navigation strategies and the complementarity of navigation strategies in dynamic environments. The correctness of the behavioral choices in situations of antagonistic or synergetic internal states are also tested. Finally, the modeling choices are discussed with regard to their biomimetic plausibility, while the experimental results are estimated in terms of animat adaptivity.
机译：本文介绍了一种仿生控制体系结构，该体系结构既提供了动画，又提供了动作选择和导航功能。它满足了人工代谢的生存限制，并支持多种互补的导航策略。它建立在基于脊椎动物大脑基底神经节的动作选择模型的基础上，使用两个相互连接的皮质-基底神经节-丘脑-皮质环：一个腹侧与食欲性行为有关，而背侧一个与消极行为有关。在仿真中评估了所得模型的性能。实验评估了在动态环境中使用高级导航策略和导航策略的互补性所能延长的生存时间。还测试了内部或对立或协同状态下行为选择的正确性。最后，就仿生的真实性讨论了模型的选择，而根据动物的适应性估计了实验结果。

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