A Constructivist Model of Robot Perception and Performance

Abstract

We present a new architecture for robot control rooted in notions from Brooks' subsumption architecture and extended to include an internal representation which matures as it experiences the world. Our architecture is based on the Copycat program of Mitchell and Hofstadter, a model of fluid representation whose details we discuss. We show how our architecture develops a representation of its environment through a continuing interaction with it. The architecture is founded on a dynamical systems interpretation of representation and demonstrates the importance of the use of "embodiment". It reflects a constructivist epistemology, with the robot designed to utilize its environment in its exploration. Introduction We present an architecture for robot control based on the constructivist insight that representation occurs as a product of the active interpretation of perception-based experience. This architecture supports the control program for a robot whose task is to move abo...