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By J. Torreao

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The environment of the experiment was composed by three intercommunicated rooms with different dimensions (figure 18). Figure 17 shows the modeling results during the exploration of each room. After creating the final model of every room, the deviation of the new model is corrected according to the door connecting the room to an existing model. Finally, it is obtained an environment representation that corresponds to a great extent with the real scene. The error in the dimensions of the first room (see figure 17(e)) is due to the discretization of the Hough space.

15. Modeling of the first room during the exploration of the environment of figure 14. 6. Conclusions and future work In this chapter, we have presented a behavioral architecture for mobile robots endowed with stereo vision that provides them with the ability to actively explore and model their 37 Attentional Behaviors for Environment Modeling by a Mobile Robot Attentional Behaviors for Environment Modeling by a Mobile Robot 21 (a) (b) (c) (d) Fig. 16. Modeling of the second room during the exploration of the environment of figure 14.

The proposed attention-based control architecture is composed by three intercommunicated subsystems: the behavioral system, the visual attention system and the motor control system. The behavioral system generates high-level actions that allows keeping different behavioral objectives in the robot. The visual attention system contains the ocular fixation mechanisms that provide the selection and foveatization of visual targets. These two systems are connected to the motor control system, which is responsible of executing the motor responses generated by both of them.

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