Many factors are involved in the decision of a particular model. Notably, it should correspond as closely as possible to the principles of embodiment explained in Chapter 2, allowing the AI to benefit from its advantages. The implication is that both senses and actions are relative to the body's position in space. This is not a hindrance because obstacle avoidance as described in the requirements can be performed locally; there is a direct mapping from the inputs to the outputs that produces satisfactory behavior. The main concerns when selecting the right interface between the AI and the environment can be summarized in three points:
In the design of both inputs and outputs, compromises must be made regarding these issues. Often, there is a good balance to be found. |