Novel theories have recently been proposed to try to explain higher cognitive functions as internal representations of action and perception of an embodied autonomous agent in a situated environment. A new paradigm based on tactical modularity have been developed using neural evolutionary robotics in the form of modules, called intelligent hardware units (IHUs). The new concept of a collaborative control architecture allows the construction of a behavior-based system as a result of interactions between the control system and both the external and internal environments generated by the modules. The full separation achieved between the inner world of the autonomous agent and the real external world gives some insight into how the mind-body problem can be solved. An experiment on a two-sensor, two-motor simulated robot orbiting around an object illustrates the performance of the proposed paradigm and lead to discussion of concepts in the robot's inner world.
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