Prescott, T. J., Redgrave, P. and Gurney, K. orcid.org/0000-0003-4771-728X (1999) Layered control architectures in robots and vertebrates. Adaptive Behavior, 7 (1). pp. 99-127. ISSN 1059-7123
Abstract
We revieiv recent research in robotics, neuroscience, evolutionary neurobiology, and ethology with the aim of highlighting some points of agreement and convergence. Specifically, we com pare Brooks' (1986) subsumption architecture for robot control with research in neuroscience demonstrating layered control systems in vertebrate brains, and with research in ethology that emphasizes the decomposition of control into multiple, intertwined behavior systems. From this perspective we then describe interesting parallels between the subsumption architecture and the natural layered behavior system that determines defense reactions in the rat. We then consider the action selection problem for robots and vertebrates and argue that, in addition to subsumption- like conflict resolution mechanisms, the vertebrate nervous system employs specialized selection mechanisms located in a group of central brain structures termed the basal ganglia. We suggest that similar specialized switching mechanisms might be employed in layered robot control archi tectures to provide effective and flexible action selection.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 1999/SAGE Publications (UK and US). This is an author produced version of a paper subsequently published in Adaptive Behavior. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | subsumption architecture; brain evolution; behavior systems; defense system; action selection; basal ganglia; BASAL GANGLIA; INFERIOR COLLICULUS; SUPERIOR COLLICULUS; NEURAL SUBSTRATE; BRAIN EVOLUTION; COMMAND SYSTEMS; NERVOUS-SYSTEM; LIMBIC SYSTEM; MOTOR SYSTEM; ORGANIZATION |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 14 Nov 2016 15:22 |
Last Modified: | 20 Mar 2018 18:20 |
Published Version: | http://dx.doi.org/10.1177/105971239900700105 |
Status: | Published |
Publisher: | SAGE Publications (UK and US) |
Refereed: | Yes |
Identification Number: | 10.1177/105971239900700105 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:107032 |