As is described in the previous chapter, after the intention generator chooses an intention, it invokes the focusser. For example, when the avoid intention is generated, the perception focusser is activated to locate the positions of the obstacles, paying special attention to the most dangerous one. To enable the choice of favorable actions, the focusser must compute motor preferences in accordance with the environmental conditions (see Section. for details). This process requires the availability of --the strength of the desire from which a motor preference was assigned a value. In the current implementation, motor preferences may be derived from four desires: avoid (collision), fear, eat and mate. Let , , and denote the strength of these four desires, respectively. Their values are given by:
where ( ) is the strength of the current intention and if , .
Once the focusser has computed and collected all the motor preferences, it passes only information about the geometry, positions, and/or velocities of the attended object along with these preferences to the appropriate behavior routine.
|Xiaoyuan Tu||January 1996|