Use Your Illusion: Sensorimotor Self-simulation Allows Complex Agents to Plan with Incomplete Self-knowledge

  • Richard Vaughan
  • Mauricio Zuluaga
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4095)


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.


Mobile Robot Forward Model Goal Location Real Robot Robot Controller 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Richard Vaughan
    • 1
  • Mauricio Zuluaga
    • 1
  1. 1.Autonomy Lab, School of Computing ScienceSimon Fraser UniversityBurnabyCanada

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