Some Approaches for Reusing Behaviour Based Robot Cognitive Architectures Obtained Through Evolution
This chapter provides a vision of some of the work we have been carrying out with the objective of making evolutionarily obtained behaviour based architectures and modules for autonomous robots more standardized and interchangeable. These architectures are based on a hierarchical behaviour structure where all of the modules, as well as their interconnections, are automatically obtained through evolutionary processes. The objective has been to obtain practical structures that would work in real robots operating in real environments and it is a first step towards a more ambitious approach in which no inkling to which would be the optimal organization of the modules would be provided. The emphasis of this work is to produce behaviour based structures that work on real robots operating in real environments and to be able to obtain them as independent of the platform as possible. To address this problem we have introduced the concept of virtual sensors and effectors in behaviour based architectures and studied different approaches to automatically obtain them.
KeywordsBehaviour Module Infrared Sensor Real Robot Virtual Sensor Evolutionary Robotic
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