On Cognition as Dynamical Coupling: An Analysis of Behavioral Attractor Dynamics

The interaction of brain, body and environment can result in complex behavior with rich dynamics even for relatively simple agents. Such dynamics are, however, often difficult to analyze. In this article we explore the case of a simple simulated robotic agent, equipped with a reactive neurocontroller and an energy level, that the agent has been evolved to re-charge. A dynamical systems analysis, shows that a non-neural internal state (energy level), despite its simplicity, dynamically modulates the behavioral attractors of the agentenvironment system, such that the robot’s behavioral repertoire is continually adapted to its current situation and energy level. What emerges is a dynamic, non-deterministic and highly self-organized action selection mechanism, originating from the dynamical coupling of four systems (non-neural internal states, neurocontroller, body and environment) operating at very different time scales.