@misc{cogprints2505,
          volume = {94},
          editor = {Christopher G. Prince and Yiannis Demiris and Yuval Marom and Hideki Kozima and Christian Balkenius},
           title = {Volitron: On a Psychodynamic Robot and Its Four Realities},
          author = {Andrzej Buller},
       publisher = {Lund University Cognitive Studies},
            year = {2002},
           pages = {17--20},
        keywords = {Volitron, psychodynamic robot, working memory, action planning, behavior prediction},
             url = {http://cogprints.org/2505/},
        abstract = {This paper discusses the concept of Volitron - a controller to make its host robot increase its competence in such activities as self-initiated exploration of an environment, new goal acquisition, and planning/executing of actions while taking into account predicted behaviors of objects of interest. There are four key elements in Volitron's structure: a model of perceived reality, a model of desired reality, a model of ideal reality and a model of anticipated reality. The task of a robot's working memory includes producing images of the robot itself imitating another subject's activities and sending the images to a model of desired reality. A tension (a concept borrowed from  psychoanalysis) arising from the differences between a perceived reality and a desired reality is a source of a motivation toward action. The final decision to take an action is based on a comparison of the model of anticipated reality with that of ideal reality. The interaction of Volitron's elements are described in the paper. Furthermore, a computational model of working memory (WM) and its psychological justification are provided.}
}

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