Foreword by Michael Arbib

Preface


Chapter 1
Whence Behavior?

1.1 Toward Intelligent Robots
1.2 Precursors
1.3 The Spectrum of Robot Control
1.4 Related Issues
1.5 What's Ahead


Chapter 2
Animal Behavior

2.1 What Does Animal Behavior Offer Robotics?
2.2 Neuroscientific Basis for Behavior
2.3 Psychological Basis for Behavior
2.4 Ethological Basis for Behavior
2.5 Representative Examples of Bio-Robots
2.6 Chapter Summary


Chapter 3
Robot Behavior

3.1 What Are Robotic Behaviors?
3.2 Expression of Behaviors
3.3 Behavioral Encoding
3.4 Assembling Behaviors
3.5 Chapter Summary


Chapter 4
Behavior-Based Architectures

4.1 What is a Robotic Architecture?
4.2 A Foraging Example
4.3 Subsumption Architecture
4.4 Motor Schemas
4.5 Other Architectures
4.6 Architectural Design Issues
4.7 Chapter Summary


Chapter 5
Representational Issues for Behavioral Systems

5.1 Representational Knowledge
5.2 Representational Knowledge for Behavior-Based Systems
5.3 Perceptual Representations
5.4 Chapter Summary


Chapter 6
Hybrid Deliberative/Reactive Architectures

6.1 Why Hybridize?
6.2 Biological Evidence in Support of Hybrid Systems
6.3 Traditional Deliberative Planners
6.4 Deliberation: To Plan or Not to Plan?
6.5 Layering
6.6 Representative Hybrid Architectures
6.7 Chapter Summary


Chapter 7
Perceptual Basis for Behavior-Based Control

7.1 A Break from Tradition
7.2 What Does Biology Say?
7.3 A Brief Survey of Robotic Sensors
7.4 Modular Perception
7.5 Action and Perception
7.6 Representative Examples of Behavior-Based Perception
7.7 Chapter Summary


Chapter 8
Adaptive Behavior

8.1 Why Should Robots Learn?
8.2 Opportunities for Learning in Behavior-Based Robotics
8.3 Reinforcement Learning
8.4 Learning in Neural Networks
8.5 Genetic Algorithms
8.6 Fuzzy Behavioral Control
8.7 Other Types of Learning
8.8 Chapter Summary


Chapter 9
Social Behavior

9.1 Are Two (or N) Robots Better Than One?
9.2 Ethological Considerations
9.3 Characterization of Social Behavior
9.4 What Makes a Robotic Team?
9.5 Social Organization and Structure
9.6 Interrobot Communication
9.7 Distributed Perception
9.8 Social Learning
9.9 Case Study: UGV Demo II
9.10 Chapter Summary


Chapter 10
Fringe Robotics: Beyond Behavior

10.1 Issues of the Robot Mind
10.2 Issues of the Robot Body
10.3 On Equivalence (or Better)
10.4 Opportunities
10.5 Chapter Summary


References

Name Index

Subject Index