Issues in system integration for interpreting and manipulating the environment

The properties of an integrated, intelligent control system are examined. The model discussed consists of perceptual and planning components that schedule the use of physical sensors and actuators. The presentation focuses on sensorimotor and cognitive sequelae for a grasping task that emphasizes dynamic constraints on computation and resource allocation in systems that must continually adjust their objectives and the working set of behaviors employed to attain them. Examples are presented to illustrate the acquisition of information, the incremental refinement of models, and the use of uncertain information in grasp formation