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Book Chapter

Taming the Beast: Guided Self-organization of Behavior in Autonomous Robots

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Martius,  Georg
Department of Nonlinear Dynamics, Max Planck Institute for Dynamics and Self-Organization, Max Planck Society;

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Herrmann,  J. Michael
Department of Nonlinear Dynamics, Max Planck Institute for Dynamics and Self-Organization, Max Planck Society;

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Citation

Martius, G., & Herrmann, J. M. (2010). Taming the Beast: Guided Self-organization of Behavior in Autonomous Robots. In S. Doncieux, B. Girard, A. Guillot, J. Hallam, J.-A. Meyer, & J.-B. Mouret (Eds.), From Animals to Animats 11 (pp. 50-61). Heidelberg: Springer.


Cite as: https://hdl.handle.net/11858/00-001M-0000-0029-129B-0
Abstract
Self-organizing processes are crucial for the development of living beings. Practical applications in robots may benefit from the self-organization of behavior, e.g. for the increased fault tolerance and enhanced flexibility provided that external goals can also be achieved. We present several methods for the guidance of self-organizing control by externally prescribed criteria. We show that the degree of self-organized explorativity of the robot can be regulated and that problem-specific error functions, hints, or abstract symbolic descriptions of a goal can be reconciled with the continuous robot dynamics.