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RuWei 8 2 4 A 6 6 3 7 B C C C D C Abstract E 5 1 6 0 F G 3 1 4 0 6 7 3H F 6 8 2 0 6 N 4 2 4 2 1 2 1 6 2 3 4 1 4 0 8 I 6 1 6 F 6 8 2 0 6 N 4 1 2 4 2 1 2 1 6 20HF 20 6 3 1 I 2 8 1 6 2 4 2 1 2 1 6 I 7 3 8 WYX Z babc dfehgjihkVl m nRo p qJrfsHtRu vJw xRyRzR R p qR R 10080 R J J R J U U J J R J U V J J J J R U f U R H R U J R J R U R J J J R J J U J U U R R f R J J f J U R R R V control V V adaptation V V V B4C D E F G H I J K L 5 M N O P Q R B4C f 4S T U V W X Y Z V M P V B4C D a b c d e f g b h i j k l m Y L B C n o qp r U O 1985 1 8 Saridis Meystel b M s t RPI G IEEE h i V D 1 h i V D M 6 O M t 4 1991 1 M G t h i V 7 U G 1 t h i V 1 b h i V t Z M X G X 4 G Z V f i g B C V W Ashby M A X g V B C O D M D f V B4CFE G H I J K LMG H I NJ K V O P C M QV R C N A O P C iMS T UMV P iMS W M P O P C h i V MX K 8 ZYF M F PV V 7 D 5 1984 1 G a N W k 5 M h i g X Y X Y emerge O g S T G B Braitenberg g g Braitenberg A l Q W k l Q N O b h i G 1 Z A g Braitenberg 4 B F 0C C G 3 4 g D B BraitenbergE F GIH7J7K L 0 1 2 z MIT b h i M ON Brooks n o G 5 g b QP R X M 1991 1 12 t b h i 8 a S G T U C V W X Q Y Z k g S T C b h i D 4 G4 b h i X F PV V 7 P g C b h i l m G V b n o l m Brooks X P g Ethologist 4S e 8 l Q B U G O b h i X P g M e f P 7 b V V E m z k O 8 C hg P 3 g 7 c A P l Q y U O b h i X c 4 hg P i R 5 b a P V f P M E x y V g M a c G B P g x y g x y e o C O 3 0 P g b Tinbergen X g a 23 n o G A g x y J K M B g 4 P g R C M a g Q 0 3 motivation g c stimuli c H E F O i R Q h V A h A e i P D 7 G SubsumptionK L 7 P g 5 g b V W 86 h X x y ction a X x y 86 V 5 s MR r E t Agent b F P M FE u g w x y V g Brooks Y 5 d P R g Subsumption 2 a 4 g Q A 1989 1 J G A g x y J K G g p q l m G g x y M 5 g AI V W 14 15 M Maes J K g 37 c condition list add list delete list Q A 8 U O N 3 M FE 6 c c V O i energy c V O i Z ML G 0 c m G I E F G 7 7 t t 1 Gate Predicate 2 GateS Output V O i N c O i M g0 c a O D Maes G GIH7J7K L D 4Blumberg G X B 4b M C AI 8 G Maes m M K C M Tyrrell n o f V g 23 M Payton Rosenblat X a Tyrrel G g x y 3 0 J K free 1 Tyrrel X 2 M 5 P g 3 R g e f P V V 86 4 5 6 7 G P g M P g l 98 G A MR g x y J K 4 4 M A J K g Y G P g A B C J D E B O J Q 9F i T9G F P M g H I d i J F P K Y i 4 X Q L M N g j O g H j O hg H M P A J K0b C Y G Releasing Mechanism RQ S 5 P g D T BraitenbergE F v U V W X Y Z m9 JohnHolland B C X g J K4 A a k 7 a X z P g V 7 b S a V g X O 4 3 G Braitenberg M O 5 g b c W V B4C h i V B C A 4 5 f g V W B C D H I J K Y 8 U G X Y a Z b M P A A B B4C N g O D A 0 1 2 AB X V B C CAS D SFI D b J K Y o J K L m c H I G Agent g B C SWARM m l Q M a 3 Y t H I 5 Agent B C M SWARM m R N A B4C 4 f B C h i V B C U V B Cf A A a h i X b G c FL G0 n M m f g g u c 6 L G A M c V Muti Agent B C a 26 M aV A J K C 0 h z a g M FE r K A M V P S a M J K g R 6 r B C g b B c M M z w V V a 1 b C l M 5 M V 5 C g T B g g D DFE G H I J K L M N O PFQ R J S TFU V W E G J X Y Z 9 9a b c d R c e f g c J h i j k l FJ m J on p q M E G X Y r s J t u v w x y z U f F J J R 9 m M R U SFI J w 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v J z 7 9J U4 O V F C D v 8 F Fm4 z i Y J U 0 M z i Z J F r v 9J 9m S y i J A A J U W R4i J A J7 i J U V M j I Q R A J f FJ4 9m f J 21 J w x r O U Ff J V 9m4V s V 5 f D FJ w x U 5 S J FU J M I z i U J 5 m F J J M n JFJ 50 R4 6 V 9mM 0 v S J 9 a a J 41 O 1 Z s t u J 2 S complexity s 2 U30 U 2 d 4 J M FJ F FR Ff 6 J V 9m 5 6 7 8 9 1 A I JLKLM NLOHPLQ R S T3U V 2 W X YHZH ba cHd eLfbgHh i kjLlmFHGAnLo p q r3sLtLu v w w x y z L nmo u v w w y z m H m v w w z FHGAI J KLM u v w w y z FHG m H mF G ImJ u v w w y z3 m pHnLo sLt 1998 NmOI J 3 8 1 6 B C D B B E O A I 6 7 1 3 7 2 3 4 E 5 L I 0 0 O 5 A I 2 6 1 3 I 7 k OQB D D O 6 8 0 E I 6 3 1 0Q63 3 1 1 6 8 0 8 O B D D O H b RA April 7 A I O O B D D B O 5 3 1 6 7 3 8 F 6 1 O B D D E O O 2 3 6 N N H O B D D O Would L Changing O 6 3 0 T I 0 6 P 6 0 4 2 3 7 2 6 8 6 3 1 6 6 8 L 8 3 O O B D D E O H 6 A O O B D D D O I 1 6 6 8 6 2 9 6 O 53H 3 A b k z 4 6 1 4 9 2 3 7 1 O O O B D D C O 6 1 P 2 1 4 7 3 1 0 23b 2 T k O 4 O E 5 L I 0 0 O 15 2 0 b OUB D D O P 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