|
Behaviour |
External Signal |
Internal Signal |
Type of behaviour |
|
Wander |
None |
none |
default |
|
Explore |
None |
thirst and/or hunger |
default oriented to the search of a specific signal |
|
Avoid obstacle |
Obstacle at range, |
none |
reflex |
|
Runaway |
Predator perceived, |
safety |
motivated |
|
Approach food |
Food perceived, |
hunger |
motivated, appettitive |
|
Eat |
Food 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, |
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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