{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,4]],"date-time":"2025-03-04T01:10:19Z","timestamp":1741050619332,"version":"3.38.0"},"reference-count":60,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2015,9,24]],"date-time":"2015-09-24T00:00:00Z","timestamp":1443052800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Adaptive Behavior"],"published-print":{"date-parts":[[2015,10]]},"abstract":"<jats:p> A technique for simultaneous planning and action based on dynamic field theory is presented. The model builds on previous work on representation of sequential behavior as attractors in dynamic neural fields. Here, we demonstrate how chains of competing attractors can be used to represent dynamic plans towards a goal state. The present work can be seen as an addition to a growing body of work that demonstrates the role of dynamic field theory as a bridge between low-level reactive approaches and high-level symbol processing mechanisms. The architecture is evaluated on a set of planning problems using a simulated e-puck robot, including analysis of the system\u2019s behavior in response to noise and temporary blockages of the planned route. The system makes no explicit distinction between planning and execution phases, allowing continuous adaptation of the planned path. The proposed architecture exploits the dynamic field theory property of stability in relation to noise and changes in the environment. The neural dynamics are also exploited such that stay-or-switch action selection emerges where blockage of a planned path occurs; stay until the transient blockage is removed versus switch to an alternative route to the goal. <\/jats:p>","DOI":"10.1177\/1059712315601188","type":"journal-article","created":{"date-parts":[[2015,9,25]],"date-time":"2015-09-25T01:40:31Z","timestamp":1443145231000},"page":"243-264","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["Simultaneous planning and action: neural-dynamic sequencing of elementary behaviors in robot navigation"],"prefix":"10.1177","volume":"23","author":[{"given":"Erik","family":"Billing","sequence":"first","affiliation":[{"name":"Interaction Laboratory, University of Sk\u00f6vde, Sk\u00f6vde, Sweden"}]},{"given":"Robert","family":"Lowe","sequence":"additional","affiliation":[{"name":"Interaction Laboratory, University of Sk\u00f6vde, Sk\u00f6vde, Sweden"},{"name":"Department of Applied IT, University of Gothenburg, Sweden"}]},{"given":"Yulia","family":"Sandamirskaya","sequence":"additional","affiliation":[{"name":"Institute of Neuroinformatics University of Zurich, Zurich, Switzerland"},{"name":"Institute of Neuroinformatics, ETH Zurich, Zurich, Switzerland"}]}],"member":"179","published-online":{"date-parts":[[2015,9,24]]},"reference":[{"key":"bibr1-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1023\/A:1025414424756"},{"key":"bibr2-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1007\/BF00337259"},{"issue":"2","key":"bibr3-1059712315601188","first-page":"63","volume":"4","author":"Arbib M.A.","year":"1985","journal-title":"Human Neurobiology"},{"volume-title":"Behaviour-Based Robotics","year":"1998","author":"Arkin R.C.","key":"bibr4-1059712315601188"},{"key":"bibr5-1059712315601188","doi-asserted-by":"crossref","first-page":"141","DOI":"10.7551\/mitpress\/3121.003.0025","volume-title":"Icsab proceedings of the seventh international conference on simulation of adaptive behavior on from animals to animats","author":"Banquet J.P.","year":"2002"},{"key":"bibr6-1059712315601188","unstructured":"Barton M. J. (2001). Controller development and implementation for path planning and following in an autonomous urban vehicle. Phd thesis, The University of Sydney, Australia."},{"key":"bibr7-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1046\/j.1460-9568.2003.02906.x"},{"key":"bibr8-1059712315601188","doi-asserted-by":"publisher","DOI":"10.2478\/s13230-010-0001-5"},{"key":"bibr9-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1016\/j.bica.2015.03.002"},{"key":"bibr10-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1126\/science.253.5025.1227"},{"key":"bibr11-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1016\/S0893-6080(05)80159-5"},{"key":"bibr12-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.neuro.051508.135409"},{"key":"bibr13-1059712315601188","unstructured":"Cyberbotics. (2015). Webots. http:\/\/www.cyberbotics.com."},{"key":"bibr14-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1088\/0034-4885\/61\/4\/002"},{"key":"bibr15-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1126\/science.1099901"},{"key":"bibr16-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1142\/9789812792747_0004"},{"key":"bibr17-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1007\/s004220100269"},{"key":"bibr18-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1016\/0921-8890(95)00052-6"},{"key":"bibr19-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1038\/nature03721"},{"key":"bibr20-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2013.01.023"},{"key":"bibr21-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0407332102"},{"key":"bibr22-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1002\/hipo.10047"},{"key":"bibr23-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1016\/j.newideapsych.2007.07.007"},{"key":"bibr24-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1016\/j.brainres.2009.07.008"},{"key":"bibr25-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1109\/DevLrn.2012.6400831"},{"key":"bibr26-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500106"},{"key":"bibr27-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1991.131810"},{"key":"bibr28-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1007\/s10827-008-0090-x"},{"key":"bibr29-1059712315601188","doi-asserted-by":"crossref","unstructured":"LaValle S.M. (2006). Planning Algorithms. Cambridge: Cambridge University Press. Retrieved from http:\/\/planning.cs.uiuc.edu\/","DOI":"10.1017\/CBO9780511546877"},{"volume-title":"Robotics: science and systems (RSS), workshop \u201cactive learning in robotics: exploration, curiosity, and interaction\u201d","year":"2013","author":"Luciw M.","key":"bibr30-1059712315601188"},{"key":"bibr31-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-87601-4_6"},{"key":"bibr32-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1080\/095281397147149"},{"key":"bibr33-1059712315601188","first-page":"391","volume-title":"Imitation in animals and artifacts","author":"Matari\u0107 M. J.","year":"2000"},{"key":"bibr34-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004520"},{"key":"bibr35-1059712315601188","first-page":"59","volume-title":"Proceedings of the 9th conference on autonomous robot systems and competitions","author":"Mondada F.","year":"2009"},{"volume-title":"A framework for learning from demonstration, generalization and practice in human-robot domains","year":"2003","author":"Nicolescu M.","key":"bibr36-1059712315601188"},{"volume-title":"The Hippocampus as a Cognitive Map.","year":"1978","author":"O\u2019Keefe J.","key":"bibr37-1059712315601188"},{"key":"bibr38-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1515\/REVNEURO.2004.15.2.89"},{"key":"bibr39-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1098-1063(1997)7:1<15::AID-HIPO3>3.0.CO;2-6"},{"key":"bibr40-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386153"},{"key":"bibr41-1059712315601188","volume-title":"Artificial Intelligence: A Modern Approach","author":"Russell S.","year":"1995","edition":"1"},{"key":"bibr42-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1109\/DEVLRN.2011.6037353"},{"key":"bibr43-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2010.07.012"},{"key":"bibr44-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1016\/j.newideapsych.2013.01.002"},{"key":"bibr45-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1126\/science.1125572"},{"key":"bibr46-1059712315601188","unstructured":"Schneegans S. (2015). COSIVINA (Compose, Simulate, and Visualize Neurodynamic Architectures). http:\/\/roboticsschool.ini.rub.de\/software.php."},{"key":"bibr47-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511816772.007"},{"key":"bibr48-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1016\/S0166-4115(97)80011-8"},{"key":"bibr49-1059712315601188","volume-title":"Introduction to Autonomous Mobile Robots","author":"Siegwart R.","year":"2011","edition":"2"},{"key":"bibr50-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1093\/acprof:oso\/9780195300598.003.0005"},{"key":"bibr51-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1111\/1467-7687.00295"},{"key":"bibr52-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2005.08.012"},{"key":"bibr53-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2004.05.007"},{"key":"bibr54-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.10-02-00420.1990"},{"key":"bibr55-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.10-02-00436.1990"},{"key":"bibr56-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1037\/h0061626"},{"key":"bibr57-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1109\/ICIT.2002.1189357"},{"key":"bibr58-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385592"},{"key":"bibr59-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1007\/BF00288786"},{"key":"bibr60-1059712315601188","doi-asserted-by":"publisher","DOI":"10.1109\/TAMD.2011.2109714"}],"container-title":["Adaptive Behavior"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/1059712315601188","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/1059712315601188","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/1059712315601188","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,4]],"date-time":"2025-03-04T00:28:49Z","timestamp":1741048129000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/1059712315601188"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,9,24]]},"references-count":60,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2015,10]]}},"alternative-id":["10.1177\/1059712315601188"],"URL":"https:\/\/doi.org\/10.1177\/1059712315601188","relation":{},"ISSN":["1059-7123","1741-2633"],"issn-type":[{"type":"print","value":"1059-7123"},{"type":"electronic","value":"1741-2633"}],"subject":[],"published":{"date-parts":[[2015,9,24]]}}}