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Robustness of guided self-organization against sensorimotor disruptions




Self-organizing processes are crucial for the development of living beings. Practical applications in robots may benefit from the self-organization of behavior, e.g.~to increase fault tolerance and enhance flexibility, provided that external goals can also be achieved. We present results on the guidance of self-organizing control by visual target stimuli and show a remarkable robustness to sensorimotor disruptions. In a proof of concept study an autonomous wheeled robot is learning an object finding and ball-pushing task from scratch within a few minutes in continuous domains. The robustness is demonstrated by the rapid recovery of the performance after severe changes of the sensor configuration.

Author(s): Martius, Georg
Journal: Advances in Complex Systems
Volume: 16
Number (issue): 02n03
Pages: 1350001
Year: 2013

Department(s): Autonomous Learning
Bibtex Type: Article (article)

DOI: 10.1142/S021952591350001X
Eprint: http://www.worldscientific.com/doi/pdf/10.1142/S021952591350001X


  title = {Robustness of guided self-organization against sensorimotor disruptions},
  author = {Martius, Georg},
  journal = {Advances in Complex Systems},
  volume = {16},
  number = {02n03},
  pages = {1350001},
  year = {2013},
  eprint = {http://www.worldscientific.com/doi/pdf/10.1142/S021952591350001X}