ROBUSTNESS OF GUIDED SELF-ORGANIZATION AGAINST SENSORIMOTOR DISRUPTIONS
2013 ◽
Vol 16
(02n03)
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pp. 1350001
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Keyword(s):
The Self
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Self-organizing processes are crucial for the development of living beings. Practical applications in robots may benefit from the self-organization of behavior, e.g., to increase fault tolerance and enhance flexibility, provided that external goals can also be achieved. We present results on the guidance of self-organizing control by visual target stimuli and show a remarkable robustness to sensorimotor disruptions. In a proof of concept study an autonomous wheeled robot is learning an object finding and ball-pushing task from scratch within a few minutes in continuous domains. The robustness is demonstrated by the rapid recovery of the performance after severe changes of the sensor configuration.