A Robotic Eye Controller Based on Cooperative Neural Agents
A neural behavior initiating agent (BIA) is proposed to integrate relevant compressed image information coming from others cooperating and specialized neural agents. View complet paper
Using this arrangement the problem of tracking and recognizing a moving icon has been solved by partitioning it into three simpler and separated tasks. Neural agents associated to those tasks proved to be easier to train and show a good general performance. The obtained neural controller can handle spurious images and solve an acute image related task in a dynamical environment. Under prolonged dead-lock conditions the controller shows traces of genuine spontaneity. The overall performance has been tested using a pan and tilt camera platform and real images taken from several objects, showing the good tracking results discussed in the paper.
The problem of tracking and recognizing a moving targethas been solved by partitioning it in three simpler and sepa-rated tasks, that can be executed by three independent neuralagents. Neural agents associated to those simpler tasks provedto be easier to train and show a good general performance. Theproposed behavior initiating agent (BIA) provides and integrat-ing low bandwidth channel where others specialized agents cancontribute with relevant compressed information. As a resultthe obtained controller accomplishes an acute image relatedtask, in a dynamical environment without requiring the inter-vention of a higher layer of control. As a disadvantage eachdecision taken by the controlling neural machinery remainsan stochastic variable so erroneous decisions will always bepresent. This behavior is shared with living organisms. On theother hand the BIA has the capacity to successfully keep onmoving the robotic eye under very noisy conditions and forlong periods. Under such circunstances spurious images areusually deadly traps for image-driven machinery. This capacityappears because under its apparent logical behavior the BIAkeeps a dash of genuine spontaneityRead more