Page 118 - Introduction to AI Robotics

3.8 Exercises
Exercise 3.2 101
Explain in one or two sentences each of the following terms: reflexes, taxes, fixed-
action patterns, schema, affordance.
Exercise 3.3
Represent a schema, behavior, perceptual schema, and motor schema with an Object-
Oriented Design class diagram.
Exercise 3.4
Many mammals exhibit a camouflage meta-behavior. The animal freezes when it sees
motion (an affordance for a predator) in an attempt to become invisible. It persists un-
til the predator is very close, then the animal flees. (This explains why squirrels freeze
in front of cars, then suddenly dash away, apparently flinging themselves under the
wheels of a car.) Write pseudo-code of the behaviors involved in the camouflage
behavior in terms of innate releasing mechanisms, identifying the releasers for each
behavior.
Exercise 3.5
Consider a mosquito hunting for a warm-blooded mammal and a good place to bite
them. Identify the affordance for a warm-blooded mammal and the associated be-
havior. Represent this with schema theory (perceptual and motor schemas).

Exercise 3.6
One method for representing the IRM logic is to use finite state automata (FSA),
which are commonly used in computer science. If you have seen FSAs, consider a
FSA where the behaviors are states and releasers serve as the transitions between
state. Express the sequence of behaviors in a female digger wasp as a FSA.

Exercise 3.7
Lego Mindstorms and Rug Warrior kits contain sensors and actuators which are cou-
pled together in reflexive behaviors. Build robots which:
a. Reflexive avoid: turn left when they touch something (use touch sensor and two
motors)
b. Phototaxis: follow a black line (use the IR sensor to detect the difference between
light and dark)
c. Fixed-action pattern avoid: back up and turn right when robot encounters a “neg-
ative obstacle” (a cliff)
Exercise 3.8
What is the difference between direct perception and recognition?
Exercise 3.9
Consider a cockroach, which typically hides when the lights are turned on. Do you
think the cockroach is using direct perception or recognition of a hiding place? Ex-
plain why. What are the percepts for the cockroach?