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 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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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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