Abstract
We present a practical application of sensorimotor self- simulation for a mobile robot. Using its self-simulation, the robot can reason about its ability to perform tasks, despite having no model of many of its internal processes and thus no way to create an a priori configuration space in which to search. We suggest that this in-the-head rehearsal of tasks is particularly useful when the tasks carry a high risk of robot “death”, as it provides a source of negative feedback in perfect safety. This approach is a useful complement to existing work using forward models for anticipatory behaviour. A minimal system is shown to be effective in simulation and real-world experiments. The virtues and limitations of the approach are discussed and future work suggested.
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Vaughan, R., Zuluaga, M. (2006). Use Your Illusion: Sensorimotor Self-simulation Allows Complex Agents to Plan with Incomplete Self-knowledge. In: Nolfi, S., et al. From Animals to Animats 9. SAB 2006. Lecture Notes in Computer Science(), vol 4095. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11840541_25
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DOI: https://doi.org/10.1007/11840541_25
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-38608-7
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