Autochthonous behaviors—mapping perception to action

In this paper we describe an approach to high-level multisensor integration organized around certain egocentric behaviors. The task itself determines the sequence of sensing, the sensors used, and the responses to the sensed data. This leads to the encapsulation of robot behavior in terms of logical sensors and logical actuators. A description of this approach is given as well as some examples for dextrous manipulation and mobile robots.