Monitoring Strategies for Adaptive Periodic Control in Behavior-based Robotic Systems

The main goal of our current research is the design of a behavior-based robotic architecture that has the capability of adapting its behaviors to the rate of change of both the environment and its internal states reducing the computational costs of input processing. Inspired by research on biological clocks, we introduced a simple schema theory model where releasing mechanisms are combined with adaptive internal clocks. In this paper, we describe the design and development of a complete robotic architecture implementing this model. In particular, we considered a mobile robot domain that simulates the navigation behavior of a Catagliphys ant enhanced with simple visual capabilities.