Robot behavior coordination using decision-making neurophysiological mechanism

Behavior coordination is a vital problem for the design of behavior-based robot. Inspired by decision-making neurophysiological mechanism, the relative probability between behaviors is expressed by likelihood ratio, which accumulates information from a variety of sensors to be combined together and over time. Then the robot´s behavior is chosen according to the sequence of behaviors´ relative probability. The simulation of pushing stick task demonstrates the proposed method.