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The basis behavior set of a system provides elements that are not further reducible to each other and that, when composed by sequential or concurrent execution, produce the complete behavior repertoire for the system.

Such basis behaviors are constructed, learned, or evolved from stable, robust interaction dynamics between the agent/robot and its environment, and serve as a substrate for the system's more complex behaviors.

My work generalized the notion of basis behaviors to multi-robot interactions, and demonstrated how a small set of basis behaviors per robot can be used to demonstrate a rich repertoire of individual and group-level behaviors, including following, flocking, homing, herding, aggregation, dispersion, and formations.

All of the procedures take a discrete ``gear'' to specify the speed. The reasons for this are two-fold; first, by limiting the power of the truck, we simplify the interface to children. Secondly, it allows use to calibrate the ``gears'' so that, for example, 10 seconds forward in first gear is the same distance as 10 seconds backward in first gear.

The limitation of LOGO however is the lack of feedback from the environment. There is no way of expressing an event occuring in the outside world.

Simple constructs in iLogo extend the original LOGO language with interactivity capabilities of reading sensors and transfering control to different parts of the program.

I wanted to share an adaptation of the Schead v4, that I have been experimenting with. It is (for lack of a better term) a Master/Slave Schmitt Comparitor Head (M/S SC-H). With the addition of a 74 AC 240 or two (as motor drivers) and a pair of motors, you can put together an interesting little light seeking, wheeled robot with peripheral vision.

As long as the light reaching the photo-bridge of the Master SC-H is balanced, then the Slave SC-H acts as a regular, lone SC-H would. So, if one of the slave photo-diodes detects more light then the other, the inverter that controls the motor on that side changes states and is now the same as the inverter of the Master SC-H tied to the same motor. This turns that motor off and the robot will pivot around the stopped wheel toward the greater light source until the light on each sensors is balanced and the motor again begins to turn.

I am also using SCar to continue experimenting with Stacking separate Sensor/Behavior circuits onto a robot. I will post more as progress is made.