A Hierarchical Modular Architecture for Embodied Cognition

A hierarchical modular architecture for embodied cognition.

Cognition can appear complex owing to the fact that the brain is capable of an enormous repertoire of behaviors. However, this complexity can be greatly reduced when constraints of time and space are taken into account. The brain is constrained by the body to limit its goal-directed behaviors to just a few independent tasks over the scale of 1-2 min, and can pursue only a very small number of i...

kant on the embodied cognition

A Modular Hierarchical Behavior-Based Architecture

This paper describes a highly modular hierarchical behaviorbased control system for robots. Key features of the architecture include: easy addition/removal of behaviors, easy addition of specialized behaviors, easy to program hierarchical structure, and ability to execute nonconflicting behaviors in parallel. The architecture uses a unique reward based combinator to arbitrate amongst competing ...

A hierarchical and modular control architecture for sequential behaviours

This paper develops a hierarchical and modular control architecture for so called sequential behaviours, i.e. for plant dynamics and specifications that are represented as formal languages of infinite-length words. Our main result is the elaboration of structural properties that allow for abstraction based controller design and that are preserved under closed-loop composition. Thus, we propose ...

kant on the embodied cognition

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