Gaze controls with interactions and decays

Multibehavior control is explored in a simulation of gaze control using saccadic, vergence, pursuit, vestibulo-ocular reflex, and head control. In gaze control, several simple reflexes (or behaviors) cooperate to achieve effects such as gaze shifts, object tracking, and gaze stabilization. In the simulation, the behaviors acted like a multirate, multiinput, multioutput, time-delayed, saturated control system. Explicit coordination between behaviors was needed to let them cooperate effectively (stably, accurately) in the presence of time delays and control interactions. The coordination in this case is through a shared data structure that predicts the future state of the active agent. A behavior is assumed to know the maximum time delay of any behavior with which it shares an output. The resulting control is a form of the Smith predictor and seems to offer one general solution for this type of problem