Abstract
Language | English |
---|---|
Pages | 223-235 |
Journal | Artificial Life |
Volume | 20 |
Issue number | 2 |
DOIs | |
Publication status | E-pub ahead of print - 28 Mar 2014 |
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Results on the Convergence of Braitenberg Vehicle 3a. / Rano, Ignacio.
In: Artificial Life, Vol. 20, No. 2, 28.03.2014, p. 223-235.Research output: Contribution to journal › Article
TY - JOUR
T1 - Results on the Convergence of Braitenberg Vehicle 3a
AU - Rano, Ignacio
PY - 2014/3/28
Y1 - 2014/3/28
N2 - Braitenberg vehicles are well-known models of animal behavior used as steering mechanisms in mobile robotics and artificial life. Because of their simplicity, they are mainly used for teaching robotics, while the lack of a quantitative theory has limited their use for research purposes. This article contributes to our formal understanding of Braitenberg vehicle 3a by presenting the convergence properties of its trajectories under parabolic-shaped stimuli. We show previously unreported features of the motion of the vehicle: the conditional stability, the oscillatory behavior, and the existence of periodic trajectories. The mathematical model used provides a theoretical relation between the environment, the internal control mechanism of the vehicle, and some morphological parameters, a link already found in experimental works. This work provides theoretical support for experimental research using Braitenberg vehicle 3a, and paves the way for further research in biology, robotics, and artificial life.
AB - Braitenberg vehicles are well-known models of animal behavior used as steering mechanisms in mobile robotics and artificial life. Because of their simplicity, they are mainly used for teaching robotics, while the lack of a quantitative theory has limited their use for research purposes. This article contributes to our formal understanding of Braitenberg vehicle 3a by presenting the convergence properties of its trajectories under parabolic-shaped stimuli. We show previously unreported features of the motion of the vehicle: the conditional stability, the oscillatory behavior, and the existence of periodic trajectories. The mathematical model used provides a theoretical relation between the environment, the internal control mechanism of the vehicle, and some morphological parameters, a link already found in experimental works. This work provides theoretical support for experimental research using Braitenberg vehicle 3a, and paves the way for further research in biology, robotics, and artificial life.
U2 - 10.1162/ARTL_a_00108
DO - 10.1162/ARTL_a_00108
M3 - Article
VL - 20
SP - 223
EP - 235
JO - Artificial Life
T2 - Artificial Life
JF - Artificial Life
SN - 1064-5462
IS - 2
ER -