<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>2007-0705</journal-id>
<journal-title><![CDATA[Nova scientia]]></journal-title>
<abbrev-journal-title><![CDATA[Nova scientia]]></abbrev-journal-title>
<issn>2007-0705</issn>
<publisher>
<publisher-name><![CDATA[Universidad de La Salle Bajío A. C., Coordinación de Investigación]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S2007-07052015000200127</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Adquisición de conceptos espaciales en un agente autónomo artificial a través de simulaciones internas]]></article-title>
<article-title xml:lang="en"><![CDATA[Spatial knowledge acquisition in an autonomous artificial agent by means of internal simulations]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Gaona-Romero]]></surname>
<given-names><![CDATA[W.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Escobar-Juárez]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Hermosillo-Valadez]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Lara-Guzmán]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad Autónoma del Estado de Morelos Facultad de Ciencias ]]></institution>
<addr-line><![CDATA[Cuernavaca ]]></addr-line>
<country>MX</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>00</month>
<year>2015</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>00</month>
<year>2015</year>
</pub-date>
<volume>7</volume>
<numero>14</numero>
<fpage>127</fpage>
<lpage>161</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S2007-07052015000200127&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S2007-07052015000200127&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S2007-07052015000200127&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[La robótica móvil que hace uso de visión artificial tradicional, es capaz de estimar la distancia a los objetos del entorno basándose en el uso de un modelo de cámara. Esta estimación consiste en el cálculo de un valor numérico a partir de los parámetros de la cámara y de relaciones geométricas. Sin embargo, este valor necesita ser interpretado por el diseñador o algún otro agente externo. En la investigación presentada en este artículo demostramos que un agente autónomo es capaz de adquirir conceptos básicos de su relación con el mundo a través de su interacción con éste, obviando así la necesidad de una interpretación externa. En particular nos centramos en dos conceptos, el primero es  distancia a, y se refiere a la distancia, en términos de comandos motrices, que el agente deberá recorrer para colisionar con un obstáculo. En segundo lugar, exploramos el concepto de pasabilidad, mediante el cual el agente es capaz de discernir, entre dos pasajes de diferente tamaño, por cuál de ellos puede pasar sin colisionar. Sostenemos que estos conceptos no recaen en un mecanismo que lleva a cabo cálculos geométricos sino más bien en procesos de simulación sensoriomotriz codificados en el funcionamiento de un modelo interno. Para lograr esto, hacemos uso de teorías provenientes de las ciencias cognitivas, en particular proponemos el uso de modelos directos. Estos modelos, conocidos como predictores proveen al agente con predicciones sensoriomotrices de sus propias acciones. Los modelos directos proveen al agente con representaciones formadas por asociaciones de diferentes modalidades. En este caso en particular, el sistema usa las modalidades de información visual, información táctil, e información motriz. Estas provenientes de una cámara estereo, un arreglo de sonares y los actuadores del agente, respectivamente. El trabajo está enmarcado dentro de la robótica cognitiva, área de investigación que sostiene que la naturaleza de los comportamientos humanos es tal que éstos no pueden ser pre-programados por un diseñador. En su lugar lo que se busca es que los agentes artificiales sigan una línea de desarrollo similar a la de los seres humanos, aprendiendo a través de la interacción con su medio y explotando el conocimiento que esta interacción les provee. Los resultados obtenidos con los experimentos proveen bases sólidas en la búsqueda de comportamientos más complejos en agentes capaces de interactuar con su medio ambiente de manera autónoma obteniendo conocimiento cimentado en sus propias características sensoriomotrices.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[In mobile robotics, using artificial vision, one is capable of estimating distance to objects in the environment by means of a camera model. This estimation consists in the calculation of a numerical value based on a number of camera parameters and geometric relations. However, this value needs to be interpreted by the designer or some other external agent. In the work presented here we show how an autonomous agent is capable of acquiring basic spatial concepts about the environment it interacts with. The acquired concepts do not need an external interpretation. In particular, the research focuses on two concepts, the first is distance to, and refers to the distance, in terms of motor commands, the agent must travel before it collides with an obstacle. The second concept is passability, the use of which allows the agent to choose between two passages where only one of them is wide enough for the agent to pass through. These concepts do not rely on a mechanism performing geometrical calculations but on a sensorimotor simulation process coded as an internal model. To achieve this we make use of theories coming from cognitive science, namely we propose the use of forward models. These models, provide the agent with the sensorimotor predictions of its own actions by means of representations constructed on multi-modal associations. In this particular case, the system makes use of the visual, tactile and motor modalities, coming from a stereo camera, an array of sonars and the agent actuators, respectively. The work presented is set in the cognitive robotics framework, a research area that holds the nature of human behaviour to be too complex to be implemented as pre-programmed and hard-wired by a designer. Instead, the aim is to have agents follow a developmental line similar to that of human beings, learning through interaction with their environment and exploiting the knowledge coming from this interaction. The results obtained in our experiments provide solid ground in the search for more complex agents capable of autonomous interaction, obtaining knowledge grounded on their own sensorimotor capabilities.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[robótica cognitiva]]></kwd>
<kwd lng="es"><![CDATA[simulaciones sensoriomotrices.]]></kwd>
<kwd lng="en"><![CDATA[cognitive robotics]]></kwd>
<kwd lng="en"><![CDATA[sensorimotor simulation.]]></kwd>
</kwd-group>
</article-meta>
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