Intelligent, evolutionary, hybrid, PDE-ODE controller for navigation in unknown environments

This paper discusses the construction of a Hybrid Control Structure that would enable an agent to operate in an unknown, stationary environment. The control structure has an evolutionary nature that allows for Autonomous Structural Adaptation of the control relying only on a sequential acquired sensory input as a source of information. It also has the ability to integrate any available a priori information in its database regardless of its fragmentation or sparsity in the planning process to accelerate convergence. The structure is based on a bottom-up approach to behavior synthesis that allows the integration of experience along with synergy as drivers of the action selection process. Theoretical development of the structure, a realization, and simulation results are provided.