Motivation dynamics simulations

The below two videos show, respectively, the physical state and the full state space of a motivation dynamics agent. The agent is motivated to visit each of the two goal states (red diamonds) while staying in the workspace (the black circle) and avoiding the obstacles (black discs with red circles at their centers).

The motivation dynamics are as described in our SIADS paper. As guaranteed by the analysis in the paper, the closed-loop system exhibits a stable limit cycle where the agent cyclically visits each of the goal states in turn.