The intricacy of the behaviors we have been able to emulate in the artificial fishes results from the dynamic interactions between different intentions and between different choices of actions. The separation of the intention level and the action level in the behavioral control and action selection scheme makes the design more intuitive and efficient. In particular, since the function of the intention generator is independent from those of the behavior routines, new behaviors can be added into the behavior repertoire in steps: First, the behavior routine of a new behavior can be written and tested independently from the intention generator (and from other behavior routines that are not a component routine). The intention generator can then be modified to incorporate the new intention and can also be tested independently.
In the following sections, we describe the implementation of the intention generator, the behavior routines, and how they work in conjunction with the perception system to govern effective action selection in an artificial fish. We start with the fish's static habits and its dynamic mental state.
|Xiaoyuan Tu||January 1996|