In this paper we propose a cybernetic approach to behavior based robotics. We present a distributed adaptive control architecture for coordination of different motivations and behaviors of an autonomous vehicle. The system is based on the Zurich Model of Social Motivation, a cybernetic approach to mammalian behavior by the Swiss ethologist BISCHOF. Our system controls a simulated autonomous robot by teaching a reflective associative memory to propose an action based on the input of eight range sensors. The emerging behavior at every stage reflects the system's experience, and the robust in unexpected situations.
"Cybernetic control model from ethology for adaptive coordination of robot behaviors", Proc. SPIE 1706, Adaptive and Learning Systems, (20 August 1992); doi: 10.1117/12.139941; https://doi.org/10.1117/12.139941