In addition, real-valued sensory readings (as opposed to binary
predicates) have been used throughout the design of the behavior
system. The particular form of sensory information passed from the
perception to the behavior system affects how effectively the
behavior system couples perception to action. We believe that
real-valued sensory readings are more convenient to use especially
when deriving motor control parameters for specifying continuous 3D
actions. The convincing animation results we have been able to obtain
demonstrates the success of using real-valued sensory information.
Binary sensory readings may be sufficient for behavior arbitration in
a virtual environment with modest complexity as is shown by Maes
Maes91a. (For more details about Maes' implementation, see
Appendix 
.) However, Maes' mechanism does not consider
how a chosen behavior can be implemented, which disregards half of
the action selection process.
| Xiaoyuan Tu | January 1996 |