Formal languages aspects as a tool for representation and implementation of behavior-based robotics

Abstract

Behavior-based robotics has its foundations on the emergence of robotic behaviors, and aims to providing intelligence and autonomy to actions performed by agents in search of their goals. Although there is a great variety of research in this field, there are not many works about the formalization of the concepts related to the cognitive entity of the autonomous agents (AAs). This paper makes an effort to establish a parallel with natural models in order to achieve insights of how the robotic behaviors can be represented and set up. The Chomsky hierarchy automata are taken into account as sufficient models to represent the features of the live beings' memory. In this way, we consider that a pushdown automata (PDA) can represent the short-term memory, and the Turing machine (TM) can work as a long-term memory. Besides, in order to implement in AAs the concepts concerning to these automata, a new robotic control architecture is proposed, which has its building blocks in the modular and hierarchical functioning of the brain.