John Pissokas, Ulrich Nehmzow

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John Pissokas, Ulrich Nehmzow Computer Science
Dept., Wivenhoe Park, CO4 3SQ, UK
Figure5 The Magellan Pro robot has sixteen
ultrasonic sensors, sixteen infrared sensors and
a colour camera (not used here).
Figure2 The Marvin robot has eight ultrasonic
sensors, placed as indicated in the figures.
Figure1 The architecture of the subsymbolic
action planning mechanism. The two layers of the
mechanism are depicted. The first layer, a SOFM,
performs the perception clustering. The second
layer represents perception-action-perception
links.
Figure3 Typical task in the two dimensional
experiment the robot is placed at the
goal location first (bottom figure), then lifted
to start location (top figure) and instructed
to determine a sequence of actions that will take
it to the goal.
Figure4 The sequence of actions (shown in the
perceptual space of the SOFM) that the robot
performed to solve the task depicted in figure 3.
The grid represents the perceptual space with the
intersections to be the centres of the perceptual
clusters.