Behavioral robustness: An emergent phenomenon by means of distributed mechanisms and neurodynamic determinacy

Fernandez-Leon, Jose A (2012) Behavioral robustness: An emergent phenomenon by means of distributed mechanisms and neurodynamic determinacy. BioSystems, 107 (1). pp. 34-51. ISSN 0303-2647

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Abstract

Theoretical discussions and computational models of bio-inspired embodied and situated agents are introduced in this article capturing in simplified form the dynamical essence of robust, yet adaptive behavior. This article analyzes the general problem of how the dynamical coupling between internal control (brain), body and environment is used in the generation of specific behaviors. Based on the Evolutionary Robotics (ER) paradigm, four computational models are described to support discussions including descriptions on performance after a series of structural, sensorimotor or mutational perturbations, or are developed in the absence of them. Experimental results suggest that ‘dynamic determinacy’ – i.e. the continuous presence of a unique dynamical attractor that must be chased during functional behaviors – is a common dynamic phenomenon in the analyzed robust and adaptive agents. These agents show dynamical states that are definitely and unequivocally characterized via transient dynamics toward a unique, yet moving attractor at neural level for coherent actions. This determinacy emerges as a control strategy rooted on behavioral couplings and relies on mechanisms that are distributed on brain, body and environment. Different ways to induce further distribution of behavioral mechanisms are also discussed in this paper from a bio-inspired ER perspective.

Item Type: Article
Keywords: Behavioral robustness; Bio-inspired theoretical biology; Evolutionary robotics; Genetic algorithm; Minimal cognition; Complex adaptive systems
Schools and Departments: School of Engineering and Informatics > Informatics
Subjects: Q Science > Q Science (General) > Q0300 Cybernetics
Q Science > Q Science (General)
Q Science > QH Natural history > QH0301 Biology
T Technology > TJ Mechanical engineering and machinery > TJ0210.2 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
Depositing User: Jose A. FernandezLeon
Date Deposited: 02 May 2012 14:25
Last Modified: 02 May 2012 14:25
URI: http://sro.sussex.ac.uk/id/eprint/38865
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