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arXiv · 2002.08332

Designing spontaneous behavioral switching via chaotic itinerancy

Katsuma Inoue·Kohei Nakajima·Yasuo Kuniyoshi
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Abstract

Chaotic itinerancy is a frequently observed phenomenon in high-dimensional and nonlinear dynamical systems, and it is characterized by the random transitions among multiple quasi-attractors. Several studies have revealed that chaotic itinerancy has been observed in brain activity, and it is considered to play a critical role in the spontaneous, stable behavior generation of animals. Thus, chaotic itinerancy is a topic of great interest, particularly for neurorobotics researchers who wish to understand and implement autonomous behavioral controls for agents. However, it is generally difficult to gain control over high-dimensional nonlinear dynamical systems. Hence, the implementation of chaotic itinerancy has mainly been accomplished heuristically. In this study, we propose a novel way of implementing chaotic itinerancy reproducibly and at will in a generic high-dimensional chaotic system. In particular, we demonstrate that our method enables us to easily design both the trajectories of quasi-attractors and the transition rules among them simply by adjusting the limited number of system parameters and by utilizing the intrinsic high-dimensional chaos. Finally, we quantitatively discuss the validity and scope of application through the results of several numerical experiments.

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Katsuma Inoue, Kohei Nakajima, Yasuo Kuniyoshi. 2020-02-13. Designing spontaneous behavioral switching via chaotic itinerancy. https://doi.org/10.1126/sciadv.abb3989

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