4.Biology - iological Foundations of the iological...

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Unformatted text preview: iological Foundations of the iological Foundations of the Biological Foundations of the Biological Foundations of the Reactive Paradigm Reactive Paradigm CIS 564 Mobile Robotics Dr. Ramprasad Bala . a p asa a a Biological Foundations of the Biological Foundations of the Reactive Paradigm Reactive Paradigm y Describe the three levels in a Computational Theory. y Explain in one or two sentences each of the following terms: reflexes, taxes, fixed-action patterns, schema, affordance. y Be able to write pseudo-code of an animals behaviors in terms of innate releasing mechanisms , identifying the releasers for the ehavior. behavior. y Given a description of an animal's sensing abilities, its task, and environment, identify an affordance for each behavior. y Given a description of an animal's sensing abilities, its task, and environment, define a set of behaviors using schema theory to accomplish t k the task. Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 2 obots In the Hierarchical Paradigm obots In the Hierarchical Paradigm Robots In the Hierarchical Paradigm Robots In the Hierarchical Paradigm Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 3 imeline of Influences imeline of Influences Timeline of Influences Timeline of Influences Braitenbergs g Vehicles rbibs Neisser Arkins Schemas Arbibs Schemas arrs J.J. Gibson Middlestat Brooks Insects Payton Tinbergen & Lorenz & von Frisch Marr s Computational Theory Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 4 1980 1990 1970 arr s Computational Theory arrs Computational Theory Marrs Computational Theory Marrs Computational Theory Level 1: What is the phenomena were trying to represent? for (i=nCol.. Level 2: How it be represented as a process with inputs/outputs ? Level 3: Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 5 How is it implemented ? evel 1: Existence Proof evel 1: Existence Proof Level 1: Existence Proof Level 1: Existence Proof Goal: how to make line drawings of objects? people can do this by age 10, computers should Level 1: What is the phenomena were trying to represent? Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 6 Level 2: Inputs, Outputs, Transforms Level 2: Inputs, Outputs, Transforms Level 2: Inputs, Outputs, Transforms Level 2: Inputs, Outputs, Transforms light drawing retina (gradient) light lines (edges) drawing Level 2: for (i=nCol.. How it be represented as a process with inputs/outputs ? Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 7 evel 3: Implementation evel 3: Implementation Level 3: Implementation Level 3: Implementation-- +2-2-1 + 1 1 2 1 +----- +1-1 +1 +2 +1- Center Surround Cell Sobel Edge Detector-1-2-1 Level 3: in retinal ganglion in computer vision Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 8 How is it implemented ? lass Discussion lass Discussion...
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4.Biology - iological Foundations of the iological...

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