Fig. 6
From: A development cycle for automated self-exploration of robot behaviors
Relation between features, clusters, behavior models, cognitive cores and semantic annotations. The behavior model is defined by constraints in feature spaces. This behavior can be grounded as a cognitive core for a specific system when clusters for this system exist that fulfill these constraints. Constraint fulfilling clusters are linked to the cognitive core. The cognitive core inherits the generic label of the behavior model, but can have more that describe specifics for this robot. The constituents of the semantic annotation are colored orange