Multifunctionality: A Fundamental Property of Behavior Mechanisms Based on Dynamical Systems
Herbert Jaeger · The MIT Press eBooks · 1998
The mechanisms supporting robot behaviors are increasingly often designed as dynamical systems. Such mechanisms are inherently multifunctional. This means that they can exhibit di#erent qualitative behavior in di#erent circumstances. Multifunctionality makes system design di#cult. On the other hand, it may be beneficial for adaptiveness, since it allows qualitative changes in a robot's behaviors without changing the supporting mechanisms.