Page 9 - Introduction to AI Robotics

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2.3 Closed World Assumption and the Frame Problem 53 Contents
2.4 Representative Architectures 54
2.4.1 Nested Hierarchical Controller 54
2.4.2 NIST RCS 57
2.4.3 Evaluation of hierarchical architectures 59
2.5 Advantages and Disadvantages 61
2.6 Programming Considerations 62
2.7 Summary 62
2.8 Exercises 63
2.9 End Notes 64
3 Biological Foundations of the Reactive Paradigm 67
3.1 Overview 67
3.1.1 Why explore the biological sciences? 69
3.1.2 Agency and computational theory 70
3.2 What Are Animal Behaviors? 73
3.2.1 Reflexive behaviors 74
3.3 Coordination and Control of Behaviors 75
3.3.1 Innate releasing mechanisms 77
3.3.2 Concurrent behaviors 82
3.4 Perception in Behaviors 83
3.4.1 Action-perception cycle 83
3.4.2 Two functions of perception 85
3.4.3 Gibson: Ecological approach 85
3.4.4 Neisser: Two perceptual systems 90
3.5 Schema Theory 91
3.5.1 Behaviors and schema theory 92
3.6 Principles and Issues in Transferring Insights to Robots 97
3.7 Summary 99
3.8 Exercises 100
3.9 End Notes 102
4 The Reactive Paradigm 105
4.1 Overview 105
4.2 Attributes of Reactive Paradigm 108
4.2.1 Characteristics and connotations of reactive
behaviors 110
4.2.2 Advantages of programming by behavior 112
4.2.3 Representative architectures 113