Grounding robot representations is an important problem in Artificial Intelligence. In this paper we show how a new grounding framework guided the development of an improved locomotion engine  for the AIBO. The improvements stemmed from higher quality representations that were grounded better than those in the previous system . Since the AIBO is more grounded under the new locomotion engine it makes better decisions and achieves its design goals more efficiently. Furthermore, a well grounded robot offers significant software engineering benefits since its behaviours can be developed, debugged and tested more effectively.
M. Trieu, Mary-Anne Williams
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