Periodic Adaptive Activation of Behaviors in Robotic Systems

The main goal of our current research is the design of a robotic architecture that has the capability of adapting its behaviour to the rate of change of a dynamic environment. Taking free inspiration from some notions on biological clocks, we show a simple model to represent some characteristics typical of these clocks in terms of Schema Theory. In particular, referring to this model, we try to connect the concept of Innate Releasing Mechanisms (IRM) to the concept of periodical activation with the aim of taking into account the variability of the same behaviour according to the circumstances in which it is activated. We propose an architecture in which the frequency of access to the sensory system is modi¯ed in accordance to environmental changes.