Publications of Joanna J Bryson

My university also maintains a page of my publications with Open Access versions. It is sometimes wildly inaccurate, but does contain green Open Access versions of papers I haven't bothered to list below, either because they aren't very academic, they have errors not in the final version, or I just haven't gotten around to it. If you want the final PDF of any publication, you can can't find it by googling the title, email me.

My very early papers are in postscript, recent years are in pdf, a few are in both.  If you have trouble viewing any papers, try these helpful instructions, or email me.

this year

Joanna J. Bryson, The Artificial Intelligence of the Ethics of Artificial Intelligence: An Introductory Overview for Law and Regulation.  solicited and reviewed for M. Dubber, F. Pasquale, & S. Das (Eds.), The Oxford Handbook of Ethics of Artificial Intelligence, Oxford University Press. Author's final version, from late July 2019.

Holly Wilson, Paul Rauwolf, and Joanna J. Bryson,  Evolutionary Psychology and Artificial Intelligence: The Impact of Artificial Intelligence on Human Behaviour.  The SAGE Handbook of Evolutionary Psychology Shackelford, T. (ed) Somewhat speculative, but reviewing a lot of science, including the modelling results out of our own group. Author's final version, from August 2019.

DRAFTS – I mostly stopped posting drafts of my work years ago, since I stopped being a graduate student. I seldom get much feedback on them, until I get peer review that then points out embarrassing errors. Nevertheless...

• Alexander J. Stewart, Nolan McCarty, Joanna J. Bryson,  Polarization under rising inequality and economic decline new draft from April 2020. This project came out of my work on cultural variation in public goods investment, crossed with getting asked on live TV whether AI was increasing inequality.  I thought I'd better find out and went to talk by Nolan and learned about the correlation between inequality and polarization. I've been talking about this project for a couple years, but the model in the paper is entirely Alex.  I've thought this was the most important thing I was working on since 2016, it's part of the reason I'm now focussed on governance.  I've spoken about it a few times including at EHBEA, APSA twice, and ICSD (well, Alex spoke about it there, I watched :-) Old title: Explaining Parochialism: A Causal Account for Political Polarization in Changing Economic Environments,
• Not directly AI policy, about biological innovation: Yifei Wang, Marios Richards, Steve Dorus, Nicholas K. Priest,  and Joanna J. Bryson, Emergent biases in compensatory mutation can drive gene regulatory network evolution, in bioRxiv. Basically, mutation really can be a factor of innovation, because compensating for things that go wrong is a lot easier than you thought. We've been working on this for years, it's finally submitted somewhere – that fortunately encourages biorxiv use. See also my papers with Yifei below.   Version from December 2019.

2019

Andreas Theodorou, Bryn Bandt-Law and Joanna J. Bryson The Sustainability Game: AI Technology as an Intervention for Public Understanding of Cooperative Investment, to appear at the IEEE Conference on Games (CoG) August 2019. This is the first paper unifying our transparency work, our games work, and our work on cultural variation in human cooperation and anti-social punishment. Hopefully there will be a bunch more in 2020 and 2021. Camera ready from July 2019 or so. Software on github, linked from the AmonI Software Page.

Alexandros Rotsidis, Andreas Theodorou, Joanna J Bryson, and Robert H. Wortham, Improving Robot Transparency: An Investigation With Mobile Augmented Reality. To be presented at RO-MAN 2019. Authors' final copy. Alex (with Andreas & Rob) got ABOD3 working on mobile phones so you can point your phone at a POSH / BOD robot and see what it's trying to do. Software is probably available on github, just checking...

The Past Decade and Future of AI’s Impact on Society a solicited and reviewed chapter in Towards a New Enlightenment? A Transcendent Decade, published by BBVA OpenMind. This is a major policy document with my perspectives on how AI has been and should be incorporated into human society. It was originally written as a solicited white paper for the OECD on AI policy (May 2017), which I then revised to BBVA's title (I'm almost the only person in the book who didn't realise you could change the title). Final version submitted September 2018.

Joanna J. Bryson and Andreas Theodorou, How Society Can Maintain Human-Centric Artificial Intelligence. Solicited and reviewed chapter (title given) in the collection Human-Centered Digitalization and Services, Marja Toivonen-Noroand Eveliina Saari (eds.), Springer. Includes justification, motivation, strategies for systems engineering of AI, and strategies for regulating it. tl;dr see the bullet-point version in my blogpost, A smart bureaucrat's guide to AI regulation.

Robert H. Wortham, Swen E. Gaudl and Joanna J. Bryson, Instinct: A biologically inspired reactive planner for intelligent embedded systems in Cognitive Systems Research 57 (October):207-215. Another nice piece of work on lightweight intelligent control and systems engineering of AI. Software is available online, like most software from my group.

Robot, All Too Human, in ACM XRDS 25(3):56-59. Sorry Nietzsche fans, I only borrowed a little of his structure.  Originally written as a blogpost.

2018

Joanna J. Bryson, No One Should Trust AI, an invited, reviewed, and edited blogpost by the United Nations University Centre for Policy Research, for their Artificial Intelligence and Global Governance blog series. No one should trust AI because we ought to build it for accountability. Then we would have certain knowledge of who's at fault, and trust isn't needed, see the scientific trust paper just below with Paul Rauwolf as first author.  Published November 2018.

Paul Rauwolf & I, Expectations of Fairness and Trust Co-Evolve in Environments of Partial Information, in Dynamic Games and Applications 8(4):891-917. Highly relevant to information technology policy: The more you know, the less you need to trust, though if you know nothing or don't have a choice of who you work with, people have no reason to be trustworthy. Trust comes with PARTIAL information, AND at least some freedom.  Open access because Bath+Springer.

Joanna J. Bryson, Patiency Is Not a Virtue: The Design of Intelligent Systems and Systems of Ethics, in Ethics and Information Technology 20(1):15-26.  Both AI and Ethics are artefacts, so there is no necessary position for AI artefacts in society, rather we need to decide what we should build and how we should treat what we build. So why build something to compete for the rights we already struggle to offer 8 billion people?  Gold open access paid for by Bath out of our library budget. There are also older versions of this paper which was a discussion paper for a long time, but this is the archival version.

Swen E. Gaudl and Joanna J. Bryson, The extended ramp model: A biomimetic model of behaviour arbitration for lightweight cognitive architectures, in Cognitive Systems Research, 50:1-9 (this journal seems to count issues as volumes). Like the title says, an attempt to simplify and improve on the systems for representing emotions and drives I wrote with Emmanuel Tanguy and Phil Rolphshagen (the Dynamic Emotion Representation (DER) and Fexible Latching respectively, see below).

Rob Wortham and Joanna J. Bryson, Communication (open access version).  In Living Machines: A Handbook of Research in Biomimetic and Biohybrid Systems, Prescott and Verschure, eds, Oxford University Press.   A summary of everything biology and biological anthropology have to say on the subject, for the benefit of roboticists in particular. Open access is as of late November 2014, a lightly updated version is now available in the Handbook.

2017

Joanna J. Bryson, Mihailis E. Diamantis, and Thomas D. Grant, Of, For, and By the People: The Legal Lacuna of Synthetic Persons. Artificial Intelligence and Law 25(3):273–291 [Sep 2017]. Two professors of law and I argue that it would be a terrible, terrible idea to make something strictly AI (in contrast to an organisation also containing humans) a legal person. In fact, the only good thing about this is that it gives us a chance to think about where legal personhood has already been overextended (we give examples).  "Gold" open access, not because I think it's right to make universities or academics pay to do their work, but because Bath has some deal with Springer / has already been coerced into paying.  Notice you can read below all my papers going back to 1993 (when I started academia); I don't think "green" open access is part of the war on science.

Aylin Caliskan, Joanna J. Bryson, & Arvind Narayanan, Semantics derived automatically from language corpora contain human biases. Science 356 (6334):183-186 [14 Apr 2017].  Be sure to also look at the supplement, which gives the stimuli and shows similar results for a different corpus and word-embedding model.   Meaning really is no more or less than how a word is used, so AI absorbs true meaning, including prejudice.  We demonstrate this empirically.  This is an extension of my research programme into semantics originally deriving from my interest in the origins of human cognition, but now with help from the awesome researchers at Princeton I've merged this with my AI ethics work, and also managed to pitch for cognitive systems approaches to AI.  Open access version: authors' final copy of both the main article and the supplement.

Joanna J. Bryson and Alan F. T. Winfield, Standardizing Ethical Design for Artificial Intelligence and Autonomous Systems, IEEE Computer 50(5):116-119.  What do you do when technology like AI changes faster than the law can keep up?  One thing is have law enforce standards maintained by professional organisations, which are hopefully more agile and informed. Invited commentary.  Open access version, authors' final copy.

Robert H Wortham, Andreas Theodorou, Joanna J Bryson, Improving Robot Transparency: Real-Time Visualisation of Robot AI Substantially Improves Understanding in Naive Observers. In The 26th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2017. What's visualised is the system's priorities (the upper part of a POSH plan hierarchy), and which priorities are active in real time. Extends the IJCAI ethics workshop results to direct interaction with robots, and for an archival conference.

Elizabeth M. Gallagher and Joanna J. Bryson, Agent-Based Modelling, in the "continuously updating" Encyclopedia of Animal Cognition and Behavior, Springer, 2017.  Open access version, authors' final copy.

In honour of the EPSRC Principles of Robotics' fifth anniversary in 2016, Tony Prescott and Michael Szollosy ran an AISB symposium which was followed up by a special issue of the journal Connection Science the following year. 

• Joanna J. Bryson, The Meaning of the EPSRC Principles of Robotics, Connection Science 29(2):130-136.  I explain the principles' utility as policy, and their intent: to clarify that we are responsible for the AI we build and use.  Open access version.
• Andreas Theodorou,  Rob Wortham, and Joanna J. Bryson,  Designing and implementing transparency for real time inspection of autonomous robots. Connection Science 29(3):230-241 Open access version.
• Robert H. Wortham, Andreas Theodorou, Robot transparency, trust and utility. Connection Science 29(3):242-248.
• Here are the original EPSRC Principles of Robotics as they appear on the web pages of the Engineering and Physical Sciences Research Council's (EPSRC – the UK council for funding AI research).
• Tony got Alan Winfield to submit an article version of the Principles with the same authors, including me.

Joanna J. Bryson, The Vital Need For The Unconscious City, in Anthologies, Conscious Cities: Bridging Neuroscience, Architecture, and Technology, Anne Fritz and Itai Palti, eds. A short popular science piece on the danger of everyone  knowing so much no one is any longer unique.

Draft:  Miles Brundage and I, Smart Policies for Artificial Intelligence.  Policy and regulation don't need to kill innovation; in fact there is a great deal of policy set up to help industry innovate and flourish.  We review the de facto set of policies AI already operates under, and recommend a more explicit and coherent set.  Comments very much welcome.

2016

Dominic Mitchell, Joanna J. Bryson, Paul Rauwolf, and Gordon Ingram, On the reliability of unreliable information: Gossip as cultural memory, in Interaction Studies, vol. 17:1 pp. 1–25.  There's a tradeoff between how fast gossip spreads vs problems with its potential for corruption: it can be a lot more useful than direct experience if it spreads faster than that experience and there isn't too much false information.  Actually, in the real world gossip may give you more information than your perception, but that's not one of the things we deal with here. This work was actually done prior to (and informed) our 2015 article Value homophily benefits cooperation but motivates employing incorrect social information, but took longer to get out for a few reasons. Open access draft.

Bidan Huang, Miao Li, Ravin Luis De Souza, me, and Aude Billard, A modular approach to learning manipulation strategies from human demonstration, Autonomous Robots 40(5):903-927.  Precise manipulation (e.g. opening bottle caps) on real robots using social learning via contact sensors.  Published online October 2015, in print June 2016.  Open access available from authors, or Bath one day I hope.

I have two short book sections in the collection Memory in the Twenty-First Century, edited by Sebastian Groes, published by Palgrave Macmillan.  I made unacknowledged contributions to those part introductions too.

• Simulation and the Evolution of Thought (open access version), from Part IV Memory and the Future (pdf), and
  
• The Confabulation of Self (open access version), from Part VI, Twenty-First Century Subjectivities (pdf.)
  

Me & Paul Rauwolf, Trust Communication, and Inequality.  From The 38th Annual Meeting of the Cognitive Science Society, 10-13 August in Philadelphia, PA.  Reviews Paul's awesome work on understanding why it's adaptive to both have blind faith in others in your community, yet refuse to cooperate with those making unfair but mutually-beneficial offers.  Unfortunately there was a bug in the software; there are actually effects when you add distance in! So don't cite this paper, cite the journal version from 2017; I mean to update this but haven't yet.

Robert H Wortham, Andreas Theodorou, Joanna J Bryson, What Does the Robot Think? Transparency as a Fundamental Design Requirement for Intelligent Systems.  In IJCAI-2016 Ethics for Artificial Intelligence Workshop.  Our first experiments on making robot intelligence more transparent.

Robert H Wortham, Swen E Gaudl, Joanna J Bryson, Instinct: A Biologically Inspired Reactive Planner for Embedded Environments,  in the Proceedings of ICAPS 2016 PlanRob Workshop, and as a poster at ICAPS itself.

Andreas Theodorou, Rob Wortham and I also each had draft papers at the AISB Workshop on Principles of Robotics,  on April 4th 2016, Sheffield UK, which marked the Fifth anniversary of the publication of the EPSRC’s Principles of Robotics.  See 2017 for the final journal versions of these papers, they're better.

Robert H. Wortham and Joanna J. Bryson, A role for action selection in consciousness: an investigation of a second-order Darwinian mind, in the CEUR Workshop Proceedings, published December 2016. The title references my earlier paper, A Role for Consciousness in Action Selection in the International Journal of Machine Consciousness 4(2):471-482, which I'm not sure is well enough known to take the confusion of the joke, but this paper has a fun model of selection for metacognition, mostly by Rob.

Patiency Is Not a Virtue: AI and the Design of Ethical Systems.  Morality and AI are both artefacts of our culture, so of course we could construct them such that AI would be a moral patient, but who would that benefit?  Neither us nor the machines.  In the proceedings of the AAAI Spring Symposium Ethical and Moral Considerations in Nonhuman Agents; also presented at the AAAI Workshop AI, Ethics, and Society.  Update of previous paper from David Gunkel's & my 2013 AISB symposium. Updated again in 2018 for a journal, please see above for a link to the better version.

2015

Artificial Intelligence and Pro-Social Behaviour from the October 2015 Springer volume, Collective Agency and Cooperation in Natural and Artificial Systems: Explanation, Implementation and Simulation derived from Catrin Misselhorn's 2013 meeting, Collective Agency and Cooperation in Natural and Artificial Systems.  This brings together all three threads of my research: action selection, natural cognition and collective behaviour, and the mischaracterisation of AI as an active threat.  In response to the apocalyptic futurism typified by Bostrom's Superintelligence, I frame AI as an ordinary part of human culture, which for 10,000 years has included physical artefacts that enhance our cognitive capacities, and is apocalyptic enough in its own right.  Open access: here's the post-review submitted version from September 2014, or email me for the corrected final.

Yifei Wang, Yinghong Lan, Daniel Weinreich, Nick Priest and I, Recombination Is Surprisingly Constructive for Artificial Gene Regulatory Networks in the Context of Selection for Developmental Stability,  in the proceedings of The 13th European Conference on Artificial Life, July 20-24 2015, York, UK. The title says it all, except I think that I think we may be onto something really significant for machine learning as well as theoretical biology here. Camera ready copy from May 2015.

Paul Rauwolf, Dominic Mitchell, and Joanna J. Bryson, Value homophily benefits cooperation but motivates employing incorrect social information, Journal of Theoretical Biology 367:246–261. Preferring to cooperate with those with a similar cooperation style supports the evolution of cooperation. Reputations spread through gossip supports this strategy. But now that you are spreading two kinds of information (reputations of others, and your own style of cooperation) you can have a conundrum when these conflict. When there is such a conflict, signalling honestly about your cooperation strategy can be more beneficial to your community than telling the truth about someone else. Free open access draft is here. Software is coming soon. Draft is from October 2014, yet the work originally derived from On the reliability of unreliable information: Gossip as cultural memory, which came out in 2016.  Such is academia.

Swen E. Gaudl, Joseph Carter Osborn, and I, Learning from Play: Facilitating Character Design Through Genetic Programming and Human Mimicry, from Progress in Artificial Intelligence: Proceedings of 17th Portuguese Conference on Artificial Intelligence, EPIA 2015, Coimbra, Portugal, September 8-11, 2015. Also solving AI through social learning, this time game character strategies derived from human game traces.  Open access camera ready version.

2014

Daniel J. Taylor and Joanna J. Bryson, Replicators, lineages, and interactors, Behavioral and Brain Sciences, Volume 37, Issue 03, June 2014, pp 276-277, a commentary on Paul Smaldino's The cultural evolution of emergent group-level traits.  Open access version.

Joanna J. Bryson, James Mitchell, Simon T. Powers, and Karolina Sylwester, Understanding and Addressing Cultural Variation in Costly Antisocial Punishment.  which appears in Applied Evolutionary Anthropology: Darwinian Approaches to Contemporary World Issues, Gibson & Lawson (eds.), Springer.  This book follows from a workshop.  Here is a free version of the chapter, the revised draft from May 2013.  See further our Cultural Variation in Costly Punishment project page.  Note: Google Scholar managed to find a USAF white paper derived from our final report by the same title which has a lot of irrelevant detail and a couple theoretical errors we've since discovered.  The book chapter is 15 months more recent.

Yifei Wang, Stephen G. Matthews and Joanna J. Bryson, Evolving Evolvability in the Context of Environmental Change: A Gene Regulatory Network (GRN) Approach, Artificial Life 2014.  Interesting for both biology & machine learning, looks at the role of a potentially-hierarchical network representation in the genome for handling semi-predictable environmental change.  Final version is open access, because computer science has archival conferences.

We had three non-archival but interesting 4-page extended abstracts at Collective Intelligence (June 10-12 2014, MIT):

• Yifei Wang, Bryson & Nicholas K. Priest, Robustness as A Property of Networks Supporting Change: An Example from Artificial Gene Networks.  Looks at compensatory mutation, epistasis & evolvability in artificial gene regulatory networks.
  
• Paul Rauwolf & Bryson, Selective Pressure for the Divergence in Decision and Experienced Utility.  Paul is interested in self-deception more generally, this is just one of his modelling efforts.
  
• Bryson, Karolina Sylwester, James Mitchell & Simon T. Powers, Personality, Social Strategy, and the Regulation of Public Goods Investment: A Behavioural Ecological Perspective on Variation in Human Economic Behaviour.  This is basically a summary of the book chapter above, if you'd like a 3-page version (+ 1 page references).

Swen Gaudl has been working on improving the emotional / durative action selection work I started with Emmanuel Tanguy (see below.)  Swen's published two papers on his new Extended Ramp Goal (ERGo) model:

• Swen E. Gaudl and Joanna J. Bryson, The Extended Ramp Goal Module : Low-Cost Behaviour Arbitration for Real-Time Controllers based on Biological Models of Dopamine Cells, from the IEEE Conference on Computational Intelligence and Games (CIG) 26-29 August 2014 in Dortmund.
• Swen E. Gaudl and Joanna J. Bryson, A Biomimetic Model of Behaviour Arbitration for Lightweight Cognitive Architectures, to appear in Philosophy and Computers, a newsletter of the American Philosophical Association (Peter Boltuc, ed.).

Jekaterina Novikova, Leon Watts and I,  The role of emotions in inter-action selection. Interaction Studies, 15 (2), pp. 216-223.  A commentary on Social behaviours in dog-owner interactions can serve as a model for designing social robots in the same issue.  Submitted version is open access.

David Gunkel and Joanna J. Bryson (eds.) Introduction to the Special Issue on Machine Morality: The Machine as Moral Agent and Patient, Philosophy & Technology, 27(1):5--8, March 2014.

The Role of Stability in Cultural Evolution: Innovation and Conformity in Implicit Knowledge Discovery, book chapter in Perspectives on Culture and Agent-Based Simulations, Virginia and Frank Dignum, (eds), Springer, Berlin 2014.  Some simple simulations of culture and modularity showing interesting stability effects, inspired by a talk Dan Sperber gave in 2008. Open access draft from 2010. Open source netlogo model described in the paper on the AmonI Software Page.

Eugene Y. Bann and Joanna J. Bryson, The Conceptualisation of Emotion Qualia: Semantic Clustering of Emotional Tweets, Proceedings of the Thirteenth Neural Computation and Psychology Workshop (NCPW) which actually took place in July 2012, but finally got published in 2014 (Julien Mayor, ed.).  A chapter length description of our attempt to use social media as a source for a more accurate portrayal of the space of human emotions.  Derived from Eugene Bann's undergraduate dissertation.  A more recent paper by the same authors on a related topic came out in 2013…

2013

Karolina Sylwester, Benedikt Herrmann, and Joanna J. Bryson, Homo homini lupus? Explaining antisocial punishment. In Journal of Neuroscience, Psychology, and Economics, 6(3):167-188. A review article; see further our Cultural Variation in Costly Punishment project page. If you don't have access to APA, here is the revised final version submitted to the publisher (May 2013).

Bidan Huang, Joanna J. Bryson and Tetsunari Inamura, Learning Motion Primitives of Object Manipulation Using Mimesis Model, presented at Robotics and Biomimetics (IEEE-ROBIO) in December 2013. Describes a system of biases for allowing machine learning by observation of sequences of behaviour. Final version from November 2013.

Eugene Y. Bann and Joanna J. Bryson, Measuring Cultural Relativity of Emotional Valence and Arousal using Semantic Clustering and Twitter, Proceedings of Cognitive Science. Considers the most common "emotion" keywords on Twitter, and discovers that some concepts e.g. sleepiness and sadness are relatively culturally invariant, but others like "surprise" and "stressed" seem to be used quite differently in different global regions. Also, Europeans are the most positive and excited tweeters. Camera-ready from April 2013.

2012

Harvey Whitehouse, Ken Kahn, Michael E. Hochberg, and Joanna J. Bryson, The role for simulations in theory construction for the social sciences: Case studies concerning Divergent Modes of Religiosity, Religion, Brain & Behaviour 2(3):182-224 (including commentaries and response.)  I'm particularly pleased about this paper because it shows clearly how models can advance even well-established social-scientific theories provided that we work directly with domain experts who really understand the theory and data.  There are some very pithy, quotable text about this in our response to commentaries, From the imaginary to the real: the back and forth between reality and simulation.  Open access pre-proof version of the target article, and of the response to commentaries. Associated software is available from the AmonI software page, and also in the electronic appendix.  Oxford Anthropology have made a web page about our simulation of religion work.

Simon T. Powers, Daniel J. Taylor and Joanna J. Bryson, Punishment can promote defection in group-structured populations,  The Journal of Theoretical Biology, 311:107-116.  Penultimate version on arXiv.  This paper shows that punishment alone can't explain altruism, the papers that thought it could didn't take into account the well-documented behaviour of anti-social punishment.  Basically, some people punish those that contribute to the public good.  This is the first article of at least five we expect to publish explaining this phenomenon, and why it varies by culture.  See our Cultural Variation in Costly Punishment project page.

A Role for Consciousness in Action Selection in the International Journal of Machine Consciousness 4(2):471-482. The role is not so much for immediate selection, but for updating models for future selection. In case you don't have access, here's the submitted draft from July 2012.

The Machine Question: AI, Ethics and Moral Responsibility, David J. Gunkel, Joanna J. Bryson and Steve Torrance, eds..  A symposium proceedings published by The Society for the Study of Artificial Intelligence and Simulation of Behaviour.  Papers focus on the ethics of considering artificially intelligent artefacts as moral agents (actors responsible for their behaviour) and / or moral patients (individuals deserving of moral consideration / ethical treatment.)  Symposium ran 3-5 July, 2012, these papers were delivered a few weeks before that.

Patiency Is Not a Virtue: Suggestions for Co-Constructing an Ethical Framework Including Intelligent Artefacts.  Appeared in The Machine Question: AI, Ethics and Moral Responsibility, (Gunkel, Bryson and Torrance, eds, see above), pp. 73-75, but there's a nice new version now, see 2016.  Argues that both ethical systems and robots are artefacts of our society, so we have a good deal of control over whether we choose to make our agents moral subjects.  Doing so would be a displacement of responsibility that currently rests in us, and that displacement probably isn't justified or advisable. There are newer, better versions of this paper in 2018.

me, Yasushi Ando & Hagen Lehmann, Agent-based models as scientific methodology: A case study analysing the DomWorld theory of primate social structure and female dominance, from Modelling Natural Action Selection (Seth, Prescott & Bryson eds.), CUP.  The discussion is updated from our 2007 PTRS-B article, though the models are not.  Penultimate draft from 2010, related (including improved) software is available here.

Structuring Intelligence: The Role of Hierarchy, Modularity and Learning in Generating Intelligent Behaviour, from McFarland, D., Stenning, K. and McGonigle-Chalmers, M. (eds.) The Complex Mind, on Palgrave MacMillan.  An invited chapter for a book written in honour of the late Brendan McGonigle. The chapter mostly takes a neuro and psychological approach, but last section is Eco Evo Devo, with some ideas I've been working on lately on the origins of cognition. This is the draft sent to the publisher in March 2010.

2011

Modelling Natural Action Selection (Seth, Prescott & Bryson eds.) Book on Cambridge University Press. 20% discount for clicking this link. An expanded and updated version of our 2007 PTRS-B special issue which was a condensed version of our 2005 conference proceedings.  I think this is the last version of this work we'll see since we've now run through all the primary permutations for the order of the editors (see below).

Just an Artifact: Why Machines are Perceived as Moral Agents, with Philip P. Kime, in the proceedings of The Twenty-Second International Joint Conference on Artificial Intelligence (IJCAI '11).  Final camera-ready version from April 2011.  This is a substantial updating & improvement of one of my (and Phil's) very first papers "Just Another Artifact" which we gave at a workshop in 1998.

Gideon M. Gluckmann & I, An Agent-Based Model of the Effects of a Primate Social Structure on the Speed of Natural Selection, in Evolutionary Computation and Multi-Agent Systems and Simulation (ECoMASS) at GECCO 2011 in Dublin. The paper is final from April 2011.

Jakub Gemrot, Cyril Brom, Joanna Bryson & Michal Bida, How to compare usability of techniques for the specification of virtual agents behavior? An experimental pilot study with human subjects, in the AAMAS 2011 Workshop on the uses of Agents for Education, Games and Simulations.  Draft from January 2011.

A Role for Consciousness in Action Selection, in Proceedings of the AISB 2011 Symposium Machine Consciousness.  Post-final version with typos corrected & a sensible citation style from April 2011. There's now an improved journal version, see 2012 above.

John Grey and I, Procedural Quests: A Focus for Agent Interaction in Role-Playing-Games, in Proceedings of the AISB 2011 Symposium AI & Games.  Final version from March 2011.

2010

Philipp Rohlfshagen and Joanna J. Bryson, Flexible Latching: A Biologically-Inspired Mechanism for Improving the Management of Homeostatic Goals in Cognitive Computation 2(3):230-241.  Discusses a simple add-on mechanism for dynamic plans to allow sensible ordering of high-level drives, and explains why this problem is different from detailed action selection.  Lots of experiments, some maths and some discussion of the literature on cognitive control in natural and artificial intelligence.  Associated software comes with the standard python/jython distribution of BOD.

The Need for Cognitive Systems in Medical Care, in CyberTherapy and Rehabilitation Magazine 3(3):35-36, 2010. This is not the journal of the same name by the same group, but rather their trade publication. PDF is the draft copy sent them.

Crude, Cheesy, Second-Rate Consciousness from the proceedings of Brain Inspired Cognitive Systems (BICS) 2010.  This is an update of the AISB update of the Vienna Consciousness paper.  The next step should be a journal article. The title is a reference to a Dennett quote well worth knowing.  The paper claims we already have conscious robots and it's not that big of a deal.  It also puts forward some cool ideas about the functional role of the action-selection-related process that we experience as consciousness.

Cultural Ratcheting Results Primarily from Semantic Compression.  From The Proceedings of Evolution of Language 2010, Smith, Schouwstra, de Boer & Smith (eds.) pp. 50-57.  Discriminates the size of a culture (how much information can be transmitted from one generation to the next) from its extent (how much useful behaviour can be generated) and argues that the vast majority of cultural ratcheting is because the size of human culture finally got large enough that cultural evolution could start increasing its extent.

Why Robot Nannies Probably Won't Do Much Psychological Damage. A commentary on an article by Sharkey and Sharkey, The Crying Shame of Robot Childcare Companions, in Interaction Studies 11(2):196-200.

Robots Should Be Slaves.  In Close Engagements with Artificial Companions:  Key social, psychological, ethical and design issues, published by John Benjamins in March 2010, edited by Yorick Wilks.  The chapter says companion is the wrong metaphor for robots, which leads to the misallocation of both resources and responsibility to the detriment of our society.  Draft from 21 May 2009.

Simplifying the Design of Human-Like Behaviour:  Emotions as Durative Dynamic State for Action Selection, with Emmanuel A. R. Tanguy,  in The International Journal of Synthetic Emotions, 1(1):30-50 January 2010.  Penultimate draft, from May 2009. Related software and articles.

References in HTML	References in Bibtex

2009

Building Persons is a Choice an invited commentary on an article by Anne Foerst called Robots and Theology, in Erwägen Wissen Ethik 20(2):195-197 (2009). It isn't that AI couldn't conceivably deserve ethical obligation, rather it would be unethical for us to allow it to. See further my page on ethics and AI.

Age-Related Inhibition and Learning Effects: Evidence from Transitive Performance, in Proceedings of the 31st Annual Meeting of the Cognitive Science Society (CogSci 2009) pp. 3040-3045.  The paper is a scientific consequence of the ideas put forward in "Crude, Cheesy, Second-Rate Consciousness" (see below), and the work I am doing on understanding the evolution of cognition.  It concerns the tradeoffs between individual and genetic learning, and whether these may be shifted on the basis of individual experience over an agent's life history.  Evidence is derived from models of macaque task learning.  Camera ready from April 2009.   Associated software comes with the standard lisp distribution of BOD.

Crude, Cheesy, Second-Rate Consciousness. Presented at the 2nd AISB Symposium on Computing and Philosophy in April.  Final draft from March 2009.  An earlier, shorter version discussing Dennett more directly is listed under 2008.  The scientific ideas (without mention of robots or consciousness) are supported in my CogSci09 paper, above.

Representations Underlying Social Learning and Cultural Evolution.  In Interaction Studies, 10(1):77-100.  The version linked from the title is the penultimate draft from December 2008.

References in HTML	References in Bibtex

2008

Embodiment vs. Memetics, in Mind & Society 7(1):77-94 May.  Discusses the importance of the discovery that human-like semantics can be learned simply from observing large corpora, with ramifications for the evolution of language.  The final version is from November 2007, here is a penultimate draft from August for those who do not subscribe, although it has a couple gaffs in it.

The Impact of Durative State on Action Selection, appeared in Emotion, Personality, and Social Behavior at the AAAI 2008 Spring Symposia at Stanford in March.  This is a somewhat pedantic overview of the improvements we've made to BOD, POSH and of course AI action selection in general in the last three years, with an eye to pleasing the EPSRC since my grant with the same title just ran out.  Final version from January 2008. 

References in HTML	References in Bibtex

2007

• Plenary: AI Architectures (or State Requirements for Human-like Action Selection), plenary presented to the euCognition meeting on Cognitive Architectures, 29 June 2007. Mine was the first, overview talk -- I focus on characteristics of AI architectures that worked, and mention a few that didn't work but got famous anyway.
• Plenary: Cognition (& Robots), a shorter though related talk (second of the day this time) that focusses more on cognition, from Humans and Humanoids -- Perspectives in Cognition and Robotics, a research symposium at Bielefeld in honour of their new Cognitive Robotics lab.  9 October 2007.
• Solicited talk: Hierarchical organization of Intelligence: Ethology and AI Perspectives, from the NIPS workshop Hierarchical Organization of Behavior: Computational, Psychological and Neural Perspectives. 8 December 2007.
  

DRAFT:  Hagen Lehman and I, Modelling Primate Social Order:  Ultimate and Proximate Explanations.  A peek at the new model we're building of the egalitarian / despotic variation in primate social order.  (Lest you think we only criticise other people's!)  DRAFT from April 2007.

Agent-based models as scientific methodology: A case study analysing primate social behaviour, with ANDO Yasushi and Hagen LEHMANN.  In Philosophical Transactions of the Royal Society - B, Biology 362(1485):1685-1698.  This paper talks about how ABM fits in as a part of scientific methodology, and in particular analyzes as a case study the macaque social structure simulation in Hemelrijk's DomWorld.  The DomWorld link includes the associated software.  An earlier version of this paper with the predictions and not the full analysis appears under 2005 below (Lehmann et al). Green open access draft.

Two special issues I edited last year have come out this year:  Tony J. Prescott,  Joanna J. Bryson and Anil K. Seth (eds), Modelling Natural Action Selection in Philosophical Transactions of the Royal Society, B -- Biology 362(1485), September 2007. Camera ready from April 2007. Joanna J. Bryson (ed), Mechanisms of Action Selection, in Adaptive Behavior 15(1), March 2007.  Camera ready from December 2006. Also, one came out that Ivana Cace really did all the work on: Ivana Cace and Joanna J. Bryson (eds) Theme Issue on Poverty and Human Development, in the Interdisciplinary Description of Complex Systems 5(2), October 2007.

• Tony J. Prescott,  Joanna J. Bryson and Anil K. Seth, Introduction. Modelling Natural Action Selection in Philosophical Transactions of the Royal Society, B -- Biology.  This is actually quite a substantial article which covers the concept of action selection far more thoroughly than any other article in the two issues.  I strongly recommend reading it.  Written in April 2006.
• Mechanisms of Action Selection: Introduction to the Special Issue.  Adaptive Behavior 15(1):5-8.  That is actually just four pages, two of which introduce the articles.  The first two pages though are an essay on the problem of action selection --- it's history & current status as a research problem. Written in December 2006.
  

• Mark Wood and I, Representations for Action Selection Learning from Real-Time Observation of Task Experts.  This paper expands on the COIL system (presented first and more completely in the IEEE journal article) for imitation learning, showing how adding solid Bayesian representations improves both performance and extendibility. Zip file of associated software.
• Emmanuel A. R. Tanguy,  Phil J. Willis and I, Emotions as Durative Dynamic State for Action Selection.  The 6-page version of the AI part of Emmanuel's PhD on the Dynamic Emotion Representation, which may more generally be useful for selection problems that fall between long-term potentiation (learning) and nerve-cell firing (acting).  Associated software.
  

2006

2005

Hagen Lehmann and I, Tolerance and Sexual Attraction in Despotic Societies: A Replication and Analysis of Hemelrijk (2002).  In the proceedings of  Modeling Natural Action Selection. Final, 18 June 2005.  Extended in 2006 (printed in 2007), see above.

Edited Conference Proceedings:  Joanna J. Bryson, Tony J. Prescott and Anil K. Seth, Modelling Natural Action Selection: Proceedings of an International Workshop. Published by AISB, Sussex UK. For more information, see the MNAS Home Page. (July 2005)

Samuel J. Partington and I, The Behavior Oriented Design of an Unreal Tournament Character. A case study of using BOD, presents a very complicated POSH plan.  In the proceedings of Intelligent Virtual Agents 2005.  Final version is copyright Springer.  Updated 23 June 2005.

Paula M. Ellis and I, The Significance of Textures for Affective Interfaces. Shows that what picture is on a VR face has very significant impact on how the emotions are perceived.  In the proceedings of Intelligent Virtual Agents 2005. Final version is copyright Springer.  Updated 23 June 2005.

Learning Discretely: Behaviour and Organisation in Social Learning, with Mark Wood.  Talks about memetics, task learning, neuroscience and VR games --- what more could you ask? Proceedings of the Third International Symposium on Imitation in Animals and Artifacts.  Updated 16 January 2005.

Ivana Cace and I, Why Information Can Be Free. Shows that the tendency to communicate information can be adaptive even though it has immediate costs to the communicators and there are free riders / information hoarders around the place. Proceedings of the Second International Symposium on the Emergence and Evolution of Linguistic Communication (EELC'05).  Updated 16 January 2005.  Extended in 2006, see above.

2004

Evidence of Modularity from Primate Errors during Task Learning, in the proceedings of the Ninth Neural Computation and Psychology Workshop (NCPW '04). Relates my transitive inference work to the localist vs. modularist neural representation debate that used to be a big deal at NCPW. Final: 29 Dec 2004.

Modularity and Specialized Learning: Reexamining Behavior-Based Artificial Intelligence, in the Proceedings of The Third International Conference on Development and Learning (ICDL'04): Developing Social Brains. A slightly longer & less informative version was presented at Adaptive Behavior in Anticipatory Learning Systems (ABiALS'02), but missed being in the proceedings due to an error on my part.  Final version:  20 September 2004.

Now for the tricky bit... (originally "Consciousness Is Easy, but Learning Is Hard"), invited article for The Philosopher's Magazine 28(4):70-72. Explains that everything with RAM has functional self awareness, video cameras have perfect memory, what makes us intelligent (and is computationally difficult) is generalising from experience, which involves forgetting / unconsciousness. PDF wanted...but you can get the first third of the article from the link.

2003

Emmanuel Tanguy, Phil Willis and I, A Layered Dynamic Emotion Representation for the Creation of Complex Facial Expressions. In the proceedings of Intelligent Virtual Agents.  Final version from July 2003.

The Behavior-Oriented Design of Modular Agent Intelligence (pdf). A practical guide to Behavior-Oriented Design (BOD). In the Proceedings of Agent Technology and Software Engineering (AgeS 02), edited by Jörg P. Müller. The final version is © Springer. Updated 27 November 2002

Bryson, David Martin, Sheila I. McIlraith, Lynn Andrea Stein, Agent-Based Composite Services in DAML-S: The Behavior-Oriented Design of an Intelligent Semantic Web, in Web Intelligence, Springer 2003. Ning Zhong, Jiming Liu, and Yiyu Yao, eds. This is a longer, more detailed version of our IEEE Computer (2002) paper.  Here's a nice review of the book from IEEE Distributed Systems.

Where Should Complexity Go? Cooperation in Complex Agents with Minimal Communication (in pdf). Discusses when to use communication between agents in a multi-agent system vs. when to use behavior arbitration between modules in a modular single agent. Shows code from the primate colony simulation I'm working on with Jessica Flack. Final version is © Springer-Verlag. In the proceedings of the First GSFC/JPL Workshop on Radical Agent Concepts (WRAC). Updated 3 July 2002.

2002

Language Isn't Quite That Special (HTML). Commentary on The cognitive functions of language by  Peter Carruthers, both in Behavioral & Brain Sciences (BBS). Updated 10 Dec, 2002. BBS called the issue this got printed in `Dec 2002' but it must have come out in 2003! Well, I try to keep this page in sync with the actual publication dates, maybe that's crazy...

Action Selection for an Artificial Life Model of Social Behavior in Non-Human Primates with Jessica Flack. Three-page abstract presented at  Self-Organization and Evolution of Social Behaviour. Talks about exciting new research I hope to be spending more time on one day. Updated 6 June, 2002 (older, 8 page version from 30 March, 2001).

David Martin, Sheila I. McIlraith, Lynn Andrea Stein and I wrote two versions of the same paper. The shorter and somewhat cleaner one we called Semantic Web Services as Behavior-Oriented Agents. IEEE Computer rewrote this a bit into something called Toward Behavioral Intelligence in the Semantic Web for a special issue. More technical details are in a Springer chapter which can be found above under 2003. Both the book and the IEEE Computer special issue are about Web Intelligence, and edited by Ning Zhong, Jiming Liu, and Yiyu Yao. The papers recommend that the semantic web be viewed as containing intelligence, not just information. They also provide recommendations for altering the DAML-S spec. to better support this. Read about it in Russian. Updated 25 July, 12 October & 7th of July 2002, respectively.

Representing Cognitive Phenomena in Biological Systems. An invited 3-page rant (plus 1 page of references) about modularity and `cognition'. May be coming out in a book edited by Alex Meystel. Updated 22 May 2002.

What Monkeys See and Don't Do: Agent Models of Safe Learning in Primates (in pdf), with Marc D. Hauser. A position paper, describes the importance of constraints in learning in artificial and natural agents. In the proceedings of the AAAI Spring Symposium on Safe Learning Agents. Final revision, 21 January 2002.

2001

Intelligent Control Requires More Structure than the Theory of Event Coding Provides (HTML). Commentary on The Theory of Event Coding: A Framework for Perception and Action Planning by Bernhard Hommel, Jochen Müsseler, Gisa Aschersleben and Wolfgang Prinz, both appeared in Behavioral & Brain Sciences (BBS). Updated Nov 13, 2001.

Embodiment vs. Memetics: Does Language Need a Physical Plant? from the Proceedings of the Workshop on Developmental Embodied Cognition (DECO 01). I describe my model of how language connects to modular embodied intelligence in nature, and what this implies for AI. Just a position/review paper, no novel results, but good fun. Updated October, 2001 Er... my revisions were made far too late to make the proceedings, but the original isn't very clear!  There is now an even more revised version, see 2007.

PhD Dissertation: Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science Intelligence by Design in pdf (postscript version). Warning: that version is 344 pages long, due to 140 pages of lisp code. I have broken the dissertation into its main text, code appendices and bibliography, (all in postscript), in the likely event you just want to read the text. You can also email me to ask for a copy of the printed Tech Report, which is paperback-like and doesn't have the code. The files above are from the TR, which is clearer than the submitted dissertation (pdf). I also have had the Intelligence by Design Thesis Defense materials online since just after that 30 April 2001 defense.

Modularity and Design in Reactive Intelligence in pdf (postscript), with Lynn Andrea Stein. From IJCAI 2001. A 6 page summary of my dissertation, including a description of BOD, differences between reactive agent architectures, and an overly brief example of using BOD. (Final from April 10, 2001.)

HOW-TO: How to Make a Monkey Do Something Smart (13 pages of pdf) A brief document about Behavior Oriented Design (BOD). (Slightly modified April 18, 2001.)

2000

Dragons, Bats & Evil Knights: A Three-Layer Design Approach to Character Based Creative Play in pdf (draft version from 18 Dec. 2000). With Kris Thórisson. Final version appeared in Virtual Reality 5(2):57-71, a special issue on Intelligent Virtual Agents edited by Daniel Ballin. Article concerns the design of constructive narratives. Describes SoL (a hybrid architecture composed of Edmund and Ymir), a slightly modified form of BOD to support SoL, and our experiences developing AI for constructive narratives at LEGO.

Modularity and Specialized Learning: Mapping Between Agent Architectures and Brain Organization in pdf (postscript version), with Lynn Andrea Stein. From the proceedings of EmerNet2000 (Emerging computational neural network architectures based on neuroscience). Final version is © Springer-Verlag. Discusses the relationship between agent architectures and neuroscience, and proposes a model for an agent capable of developing its own behavior / skill modules as well as learning new patterns of behavior. Target audience is neuroscientists and computer scientists interested in expanding neural networks to exploit modularity and specialized learning. Updated 3 December, 2000.

Modularity and Specialized Learning in the Organization of Behavior in pdf (or postscript). Written with Lynn Andrea Stein. Presented at NCPW6 in September, 2000, in the proceedings (the final version is © Springer-Verlag). Summary: This chapter is similar to the EMERNET one just above, but shorter (10 vs 15 pages) and focuses on my BOD systems rather than agent architectures in general. Targeted for psychologists and cognitive scientists who use neural networks to model human behavior. Updated 30 October, 2000.

Hypothesis Testing for Complex Agents in pdf (or postscript), with Will Lowe and Lynn Andrea Stein. In the proceedings of the NIST Workshop on Performance Metrics for Intelligent Systems held in August, 2000 (original website). Talks in detail about experimental method and the development of complex (even socially competent) agents. Updated July 2000.

Architectures and Idioms: Making Progress in Agent Design in pdf (or postscript). Written with Lynn Andrea Stein. Presented at ATAL 2000, now a book chapter, the final version is © Springer-Verlag. Summary: discusses the importance of methodology and the utility of alternative architectures - among other contributions, it distinguishes between these. Also gives a good one-page summary of what reactive planning really is. We suggest that the most useful thing to do with a new architecture is to identify its contributions and then express them in terms of one or more main-stream architectures. An extended example is made of an idiom we call a Basic Reactive Plan, taken from my architecture, Edmund, among other places. Updated 29 October, 2000.

Also at ATAL, Agent Development Tools with Keith Decker, Scott DeLoach, Michael Huhns and Michael Wooldridge. This is a synopsis of a panel discussion, with a fine two-page rant from me I still stand by. There's a free version on Scott DeLoach's publications page.

Hierarchy and Sequence vs. Full Parallelism in Reactive Action Selection Architectures (that's postscript), in The Sixth International Conference on the Simulation of Adaptive Behavior (SAB2000) (Note: there's a pdf version with an extra blank page.) Summary: demonstrates that hierarchy does not necessarily lead to a reduction of performance, even in highly dynamic environments. An illustration (with statistical evaluation) of the importance of clean design approaches to creating good AI systems. A shorter, less clear version of this paper appeared in Intelligent Virtual Agents 2, 1999. Final version; published in August 2000.

I presented two papers at two different symposia for AISB 2000. In Aaron Sloman's How to Design a Functioning Mind (DAM) I have Making Modularity Work: Combining Memory Systems and Intelligent Processes in a Dialog Agent (postscript version). First published description of BOD, uses dialog systems for the examples. (Final from March 2000.)

A Proposal for the Humanoid Agent-builders League (HAL) (or postscript) also appeared in the proceedings of John Barnden's symposium on Artificial Intelligence, Ethics and (Quasi-)Human Rights. See further my AI and Society web page. (Final from March 2000.)

Cross-Paradigm Analysis of Autonomous Agent Architecture in pdf (or compressed postscript) in the Journal of Experimental and Theoretical Artificial Intelligence (JETAI) 12(2). Summary: article about trends in agent architectures and what they imply about optimal strategies for designing intelligence.

MPhil Dissertation: University of Edinburgh, Faculty of Social Sciences (Department of Psychology) The Study of Sequential and Hierarchical Organisation of Behaviour via Artificial Mechanisms of Action Selection. That is the 173-page 11-point 1.5-spaced PDF version, with a little source code my examiners asked for. There's also a 94-page 10-point single-spaced compressed postscript version with no source code. Complete source code is available at the bottom of this page. Summary: gives evidence for the need for structured control from three sources: the history of AI agent architectures, my experiments in two domains (robotics and artificial life), and a review of the neurological / behavioral literature. Also discusses the dialect differences between Psychology and AI, and AI as a research tool for Psychology. (Final corrections, January 2000).

1999-1997

Creativity by Design: A Character Based Approach to Creating Creative Play , in the AISB Symposium on AI and Creativity in Entertainment in April, 1999 Summary: another proto-BOD paper, talks about combining Edmund with another agent architecture, Ymir, in the context of virtual reality characters. More about SoL, Ymir and the project is in the "Dragons, Bats & Evil Knights" paper above; some of the technical details of implementing Edmund's POSH architecture in SoL are in "Architectures and Idioms" paper also above.

TALK: Intelligence by Design was presented to the Generator Studios artists group in Dundee Scotland, as part of the It's In Your Head art and neuroscience initiative in August, 1999.

Agent Architecture as Object Oriented Design, presented in Agent Theories, Architectures and Languages 1997, and published in Intelligent Agents IV by Springer in 1998. Summary: a proto-BOD paper, this describes developing behaviors and control scripts in a way similar to developing object hierarchies in OOD. Also mentions the way I have localized learning in the behavior libraries.

Just Another Artifact: Ethics and the Empirical Experience of AI. Coauthored with my friend Phil Kime, presented at the Fifteenth International Congress on Cybernetics, 1998, but only partially appearing in their proceedings.  We kept trying to make a journal version of this paper & finally in 2011 put a version into IJCAI which is I think a lot better. See also my AI and Society page.

Cognition without Representational Rediscription coauthored with Will Lowe. This is a commentary on Dana H. Ballard, Mary M. Hayhoe, Polly K. Pook, and Rajesh P. N. Rao, Deictic Codes for the Embodiment of Cognition; both articles appeared in Behavioral & Brain Sciences (BBS) in late 1997.

DRAFT: (from 1997): Specialized Learning and the Design of Intelligent Agents Old PhD proposal cum journal article under revision on the potential equivalence and trade-offs between control state and learning -- it's pretty rough in places but apparently also interesting (according to the reviewers.) This has been extended into two chapters of my PhD dissertation, the ones about learning. Maybe this year I'll resubmit it...

1996-1992

The Design of Learning for an Artifact from the AISB96 workshop on Learning in Robots and Animals. (There's also an older, longer version about Cog.) Learning in animals seems to be highly specialized and constrained as much as possible, primarily to things that cannot be learned in evolutionary time scales. As a developers of behavior-based AI, we largely take on the role of evolutionary learning ourselves. Our robots or avatars should only have the special-purpose sorts of learning built-in to their everyday actions.

DRAFT: (from 1996)  Modular Adaptivity and Behavior Based Control A short paper which discusses the role of episodic memory in navigation. I got some of this working on my robot, see my MPhil thesis, but some of it still needs to get worked out and written up...

DRAFT: (from 1995)  The Use of State in Intelligent Control . This short paper compares Shakey and Genghis, and demonstrates the necessity of using control state even in the simplest reactive system. I'm not sure anyone cares enough for me to ever get this one published! But I still think it could be useful for some people. (The original Genghis didn't actually back up and turn when it bumped into something with a feeler. It just lifted its leg higher.  Ooops.  Oh well, the same arguments still all apply.  The behavior I described was on the commercial version of Genghis available then from ISR (now iRobot.)

In Luc Steels (ed.) The Biology and Technology of Intelligent Autonomous Agents, (1994) The Reactive Accompanist: Adaptation and Behavior Decomposition in a Music System Describes my MSc project, is also the first place I suggest adaptive requirements can serve as a key to determining how to decompose intelligence into modularized behaviors (key point in BOD).

The Reactive Accompanist: Applying Subsumption Architecture to Software Design Edinburgh University Department of AI tech report 606 (1992) This paper is temporarily (January 2003) inaccessible due to the Edinburgh fire.   Since `temporary' has lasted for over two years, here's a draft version I still had the latex for.  Compares Subsumption Architecture with Object-Oriented Design in the context of my MSc.  Draft was last modified around November of 1992, it was placed here March 2005.

MSc Dissertation, University of Edinburgh, Faculty of Science (Department of Artificial Intelligence) The Subsumption Strategy Development of a Music Modelling System. For more information, see my page on the Reactive Accompanist. (September 1992)