P. Nahodil and D. Kadleček (Czech Republic)
Adaptivity, MAS, Behavior-based and Hybrid Control
Architecture, ALife, Animats.
This paper reviews key concepts of CZAR (Czech
Animal-Like Robot) architecture. This hybrid
autonomous agent architecture was designed for the
usage mainly in the ALife domain and combines
knowledge-based and behavior-based approaches. Its
structure, strengths as well as weaknesses, and roots in
biology are presented. CZAR has arisen as a result of
a number of applications, where real robots with
variety of control systems were tested and several
biological systems were simulated. During this
iteration process, basic principles common to mobile
robotic applications and common to real animals were
identified and embodied in the resulting architecture.
This article highlights these principles and provides
detailed description of the CZAR. Basic building
blocks include perception, actuation, internal state
model, cognition, action selection and a special
importance is put onto attention selection. Particular
focus is also placed on learning and adaptivity. A
simplified ecosystem was created to test CZAR.