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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.).

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