The International Journal of Robotics Research

 

Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Click here to register and gain free access

Click here for more information

Sign In to gain access to subscriptions and/or personal tools.
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in ISI Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via HighWire
Right arrow Citing Articles via ISI Web of Science (15)
Right arrow Citing Articles via Google Scholar
Google Scholar
Right arrow Articles by Bicho, E.
Right arrow Articles by Schöner, G.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati  
What's this?
The International Journal of Robotics Research, Vol. 19, No. 5, 424-447 (2000)
DOI: 10.1177/02783640022066950

Target Representation on an Autonomous Vehicle with Low-Level Sensors

Estela Bicho

Department of Industrial Electronics, University of Minho, 4800 Guimarães, Portugal, C.N.R.S.-Centre de Recherche en Neurosciences Cognitives, 13402 Marseille Cédex 20, Franceestela{at}lnf.cnrs-mrs.fr

Pierre Mallet

Gregor Schöner

C.N.R.S.-Centre de Recherche en Neurosciences Cognitives, 13402 Marseille Cédex 20, France

How can low-level autonomous robots with only very simple sensor systems be endowed with cognitive capabilities? Specifically, we consider a system that uses seven infrared sensors and five microphones to avoid obstacles and acquire sound targets. The cognitive abilities of the vehicle consist of representing the direction in which a sound source lies. This representation supports target detection, estimation of target direction, selection of one out of multiple-detected targets, storage of target direction in short-term memory, continuous updating of memory, and deletion of memorized target information after a characteristic delay. We show that the dynamic approach (attractor dynamics) employed to control the motion of the robot can be extended to the level of representation by using dynamic neural fields to interpolate sensory information. We show how the system stabilizes decisions in the presence of multivalue sensorial information and activates and deactivates memory. Smooth integration of this target representation with target acquisition, in the form of phonotaxis, and obstacle avoidance is demonstrated.


Add to CiteULike CiteULike   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati    What's this?


This article has been cited by other articles:


Home page
 The International Journal of Robotics ResearchHome page
L.-P. Ellekilde and J. W. Perram
Tool Center Trajectory Planning for Industrial Robot Manipulators Using Dynamical Systems
The International Journal of Robotics Research, May 1, 2005; 24(5): 385 - 396.
[Abstract] [PDF]