Page 109 - Introduction to AI Robotics

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3 Biological Foundations of the Reactive Paradigm
Releaser

BEHAVIOR

Sensory Pattern of
Input Motor Actions

Perceptual Motor
Schema Schema

Figure 3.8 Behaviors decomposed into perceptual and motor schemas.

The schema instantiation is the object which is constructed with whatever
parameters are needed to tailor it to the situation. For example, there could
be a move_to_food schema where the agent always heads in a straight line
to the food. Notice that the “always heads in a straight line” is a template
of activity, and a reusable algorithm for motion control. However, it is just a
method; until the move_to_food schema is instantiated, there is no specific
goal to head for, e.g., the candy bar on the table. The same schema could be
instantiated for moving to a sandwich.

3.5.1 Behaviors and schema theory

In the Arbibian application of schema theory towards a computational the-
COMPOSITION OF A ory of intelligence, a behavior is a schema which is composed of a motor
BEHAVIOR schema and a perceptual schema. The motor schema represents the template
MOTOR SCHEMA
for the physical activity, the perceptual schema embodies the sensing. The mo-
PERCEPTUAL SCHEMA
tor schema and perceptual schema are like pieces of a puzzle; both pieces
must be together in place before there is a behavior. This idea is shown below
in Fig. 3.8.
Essentially, the perceptual and motor schema concept fits in with ethology
and cognitive psychology as follows:
A behavior takes sensory inputs and produces motor actions as an output.