State space construction by attention control

Hiroshi Ishiguro, Masatoshi Kamiharako, Toru Ishida

Research output: Contribution to journalConference article

3 Citations (Scopus)

Abstract

In order to understand cognitive aspects of autonomous robots, it is fruitful to develop a mechanism by which the robot autonomously analyzes physical sensor data and construct a state space. This paper proposes a coherent approach to constructing such a robot oriented state space by statistically analyzing sensor patterns and rewards given as the result of task executions. In the state space construction, the robot creates sensor pattern classifiers called Empirically Obtained Perceivers (EOPs) which, when combined, represent internal states of the robot. A novel feature of this method is that the EOP directs attention to select necessary information, and the state space is obtained with the attention control mechanism using EOPs. We have confirmed that the robot can effectively construct state spaces through its vision sensor and execute a navigation task with the obtained state spaces in a complicated simulated world.

Original languageEnglish
Pages (from-to)1131-1137
Number of pages7
JournalIJCAI International Joint Conference on Artificial Intelligence
Volume2
Publication statusPublished - 1999 Dec 1
Externally publishedYes
Event16th International Joint Conference on Artificial Intelligence, IJCAI 1999 - Stockholm, Sweden
Duration: 1999 Jul 311999 Aug 6

ASJC Scopus subject areas

  • Artificial Intelligence

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