Perceptual bistability-the spontaneous, irregular fluctuation of perception between two interpretations of a stimulus-occurs when observing a large variety of ambiguous stimulus configurations. This phenomenon has the potential to serve as a tool for, among other things, understanding how function varies across individuals due to the large individual differences that manifest during perceptual bistability. Yet it remains difficult to interpret the functional processes at work, without knowing where bistability arises during perception. In this study we explore the hypothesis that bistability originates from multiple sources distributed across the perceptual hierarchy. We develop a hierarchical model of auditory processing comprised of three distinct levels: a Peripheral, tonotopic analysis, a Central analysis computing features found more centrally in the auditory system, and an Object analysis, where sounds are segmented into different streams. We model bistable perception within this system by applying adaptation, inhibition and noise into one or all of the three levels of the hierarchy. We evaluate a large ensemble of variations of this hierarchical model, where each model has a different configuration of adaptation, inhibition and noise. This approach avoids the assumption that a single configuration must be invoked to explain the data. Each model is evaluated based on its ability to replicate two hallmarks of bistability during auditory streaming: the selectivity of bistability to specific stimulus configurations, and the characteristic log-normal pattern of perceptual switches. Consistent with a distributed origin, a broad range of model parameters across this hierarchy lead to a plausible form of perceptual bistability.

This paper presents algorithms to plan the concurrent and collision-free movement of n hexagonal metamorphic robots (modules) over a contiguous surface in a hexagonal grid. The problem is complicated by the fact that the surface may include "non-concurrently traversable" segments, where narrow passages between surface cells may result in module collision, regardless of the space separating moving modules. We present a new algorithm to identify unoccupied cells that, when filled with modules, form bridges to span all non-concurrently traversable segments of the surface. Our bridging algorithms have the added benefit of reducing the overall traversal time for a given surface. Additionally, we show that four modules are sufficient to bridge any contiguous non-concurrently traversable segment, allowing concurrent module movement with minimal inter-module spacing. Finally, we present the results of simulating our algorithms using a discrete event simulator.

The problem addressed is reconfiguration planning for a metamorphic robotic system composed of any number of hexagonal robots when a single obstacle with multiple indentations or "pockets" is embedded in the goal environment. We extend our earlier work on filling a single pocket in an obstacle to the case where the obstacle surface may contain multiple pockets. The planning phase of our algorithm first determines whether the obstacle pockets provide sufficient clearance for module movement, i.e., whether the obstacle is "admissible". In this paper, we present algorithms that sequentially order individual pockets and order module placement inside each pocket. These algorithms ensure that every cell in each pocket is filled and that module deadlock and collision do not occur during reconfiguration. This paper also provides a complete overview of the planning stage that is executed prior to reconfiguration and presents a distributed reconfiguration schema for filling more than one obstacle pocket concurrently, followed by the envelopment of the entire obstacle. Lastly, we present examples of obstacles with multiple pockets that were successfully filled using our distributed reconfiguration simulator.