next up previous contents
Next: Persistence in Behavior Up: The Behavior System Previous: Implementation Advantages

Intention-Guided Perception: Control of the Focusser

  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. gif for details). This process requires the availability of tex2html_wrap_inline3280 --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 tex2html_wrap_inline3580 , tex2html_wrap_inline3282 , tex2html_wrap_inline3584 and tex2html_wrap_inline3278 denote the strength of these four desires, respectively. Their values are given by:

eqnarray1466

where tex2html_wrap_inline3588 ( tex2html_wrap_inline3590 ) is the strength of the current intention and if tex2html_wrap_inline3592 , tex2html_wrap_inline3594 .

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.


next up previous contents
Next: Persistence in Behavior Up: The Behavior System Previous: Implementation Advantages
Xiaoyuan TuJanuary 1996