Intentional Control for Planetary Rover SRR

Intentional behavior is a basic property of intelligence and it incorporates the cyclic operation of prediction, testing by action, sensing, perceiving, and assimilating the experienced features. Intentional neurodynamic principles are applied for on-line processing of multi-sensory inputs and for the generation of dynamic behavior using SRR2K (Sample Return Rover) platform at the Planetary Robotics indoor facility of JPL. The studied sensory modalities include CMOS camera vision, orientation based on internal motion unit, and accelerometer signals. The control architecture employs a biologically inspired dynamic neural network operating on the principle of chaotic neural dynamics manifesting intentionality in the style of mammalian brains. Learning is based on Hebbian rule coupled with reinforcement. The central issue of this work is to study how the developed control system builds associations between the sensory modalities to achieve robust autonomous action selection. The proposed...

• Type: Journal
• Year: 2008
• Where: AR
• Authors: Robert Kozma, Terry Huntsberger, Hrand Aghazarian, Edward Tunstel, Roman Ilin, Walter J. Freeman
• Keywords: AR 2008, Dynamic Neural Network, Intentional Neurodynamic Principles, Sensory Modalities