The name is absent



Behaviour

External Signal

Internal Signal

Type of behaviour

Wander

None

none

default

Explore

None

thirst and/or hunger
and/or fatigue

default oriented to the

search of a specific signal

Avoid obstacle

Obstacle at range,
Prey at range,
Predator at range

none

reflex

Runaway

Predator perceived,
Blob perceived

safety

motivated

Approach food

Food perceived,
Prey perceived

hunger

motivated, appettitive

Eat

Food at range,
Prey at range

hunger

motivated, consummatory

Approach water

Water perceived

thirst

motivated, appettitive

Drink

Water at range

thirst

motivated, consummatory

Approach grass

Grass perceived

fatigue

motivated, appettitive

Rest

Grass at range

fatigue

motivated, consummatory

Approach  food

and water

Food and Waterperceived,
Prey and water perceived

hunger and thirst

motivated, appettitive

Table 2. Behaviours repertoire of the animats. Italics are for preys, underlined are for predators, and
normal are for both.

We can see that wander is a default behaviour, and explore is a default behaviour
oriented to the satisfaction of an internal need, and avoid obstacle is a reflex behaviour.
Runaway, although it can be seen as a reactive behaviour, it competes with the rest of the
behaviours at a motivational level. Reactive behaviours depend mostly on the external signal,
but this is sometimes because the motivation is implicit. In this case, safety is a constant
parameter, adjusted by the user. The rest of the behaviours are motivated. Approach food,
approach water, approach grass, and approach food and water are appetitive behaviours, while
eat, drink, and rest are consummatory.

5.3.5. BeCA in the animats

We designed behavioural columns for the behaviours exposed in the previous sections
in BeCA by simply setting the values of coupling strengths and connecting BeCA to the
perceptual and motor systems and to the internal medium.

Figure 23 shows examples of possible signal trajectories through different blackboard
levels in BeCA. The lines show the trajectories of some behavioural columns. Dotted lines
indicate potential behavioural columns, that might be consolidated by associative learning (see
Section 3.8.1.).

67



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