. Ce-graphe, il est exécuté, fait chercher au robot la balle et tourner la tête dans sa direction une fois qu'il la voit. Si la balle n'est pas trouvée au bout de 10 secondes, le robot tourne sa tête dans une direction aléatoire et recommence

R. John, C. Anderson, and . Lebiere, The atomic components of thought, 1998.

J. Baillie, URBI: towards a universal robotic low-level programming language, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005.
DOI : 10.1109/IROS.2005.1545467

J. Baillie and M. Nottale, Dynamic Evolution of Language Games between two Autonomous Robots, Proceedings. The 4nd International Conference on Development and Learning, 2005., 2005.
DOI : 10.1109/DEVLRN.2005.1490946

J. Baillie and M. Nottale, Segmentation stability : A key component for joint attention, 5th International Conference on Epigenetic Robotics, 2005.

R. A. Boie and I. J. Cox, An analysis of camera noise, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.14, issue.6, pp.671-674, 1992.
DOI : 10.1109/34.141557

R. A. Brooks, Elephants don't play chess, Robotics and Autonomous Systems, vol.6, issue.1-2, 1990.
DOI : 10.1016/S0921-8890(05)80025-9

R. A. Brooks, A robust layered control system for a mobile robot, IEEE Journal on Robotics and Automation, vol.2, issue.1, pp.14-23, 1986.
DOI : 10.1109/JRA.1986.1087032

R. Carmi and L. Itti, Causal saliency effects during natural vision, Proceedings of the 2006 symposium on Eye tracking research & applications , ETRA '06, pp.11-18, 2006.
DOI : 10.1145/1117309.1117313

Q. Chen, M. Defrise, and F. Deconinck, Symmetric phase-only matched filtering of Fourier-Mellin transforms for image registration and recognition, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.16, issue.12, pp.1156-1168, 1994.
DOI : 10.1109/34.387491

D. Comaniciu and P. Meer, Robust analysis of feature spaces: color image segmentation, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition, p.700, 1997.
DOI : 10.1109/CVPR.1997.609410

P. L. Correia and F. Pereira, Objective evaluation of video segmentation quality, IEEE Transactions on Image Processing, vol.12, issue.2, pp.186-200, 2003.
DOI : 10.1109/TIP.2002.807355

C. Dance, J. Willamowski, L. Fan, C. Bray, and G. Csurka, Visual categorization with bags of keypoints, ECCV International Workshop on Statistical Learning in Computer Vision, 2004.

A. Davison, Real-time simultaneous localisation and mapping with a single camera, Proceedings Ninth IEEE International Conference on Computer Vision, pp.1403-1410, 2003.
DOI : 10.1109/ICCV.2003.1238654

E. De-jong, The development of a lexicon based on behavior, Proceedings of the Tenth Netherlands /Belgium Conference on Artificial Intelligence, pp.27-36, 1998.

L. Fei-fei, R. Fergus, and P. Perona, Learning generative visual models from few training examples: An incremental Bayesian approach tested on 101 object categories, IEEE. CVPR 2004, Workshop on Generative-Model Based Vision, 2004.
DOI : 10.1016/j.cviu.2005.09.012

L. Fei-fei, R. Fergus, and P. Perona, One-shot learning of object categories, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.28, issue.4, pp.594-611, 2006.
DOI : 10.1109/TPAMI.2006.79

V. Ferrari, L. Fevrier, F. Jurie, and C. Schmid, Groups of Adjacent Contour Segments for Object Detection, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.30, issue.1, 2006.
DOI : 10.1109/TPAMI.2007.1144

URL : https://hal.archives-ouvertes.fr/inria-00096663

D. Filliat, A visual bag of words method for interactive qualitative localization and mapping, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.3921-3926, 2007.
DOI : 10.1109/ROBOT.2007.364080

URL : https://hal.archives-ouvertes.fr/hal-00640996

S. Harnad, The symbol grounding problem, Physica D: Nonlinear Phenomena, vol.42, issue.1-3, pp.335-346, 1990.
DOI : 10.1016/0167-2789(90)90087-6

C. Harris and M. Stephens, A Combined Corner and Edge Detector, Procedings of the Alvey Vision Conference 1988, pp.147-151, 1988.
DOI : 10.5244/C.2.23

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.231.1604

E. Hjelmas, K. Boon, and . Low, Face Detection: A Survey, Computer Vision and Image Understanding, vol.83, issue.3, pp.236-274, 2001.
DOI : 10.1006/cviu.2001.0921

J. Huang, S. Kumar, M. Mitra, W. Zhu, and R. Zabih, Image indexing using color correlograms, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp.762-768, 1997.
DOI : 10.1109/CVPR.1997.609412

Q. Huang and B. Dom, Quantitative methods of evaluating image segmentation, Proceedings of the International Conference on Image Processing, pp.53-56, 1995.

E. Murphy-chutorian-huei-ju-chen, K. Lee, and J. Triesch, Advances in Visual Computing, chapter Toward a Unified Probabilistic Framework for Object Recognition and Segmentation, pp.108-117

T. Ikegami and H. Iizuka, Simulated turn-taking and development of styles of motion. Imitation and Social Learning in Robots, Humans and Animals, Chapter 14, 2007.

L. Itti, C. Koch, and E. Niebur, A model of saliency-based visual attention for rapid scene analysis, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.20, issue.11, pp.1254-1259, 1998.
DOI : 10.1109/34.730558

S. Jodogne, F. Scalzo, and J. H. Piater, Task-Driven Learning of Spatial Combinations of Visual Features, 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05), Workshops, pp.48-48, 2005.
DOI : 10.1109/CVPR.2005.539

F. Jurie and B. Triggs, Creating efficient codebooks for visual recognition, Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1, pp.604-610, 2005.
DOI : 10.1109/ICCV.2005.66

URL : https://hal.archives-ouvertes.fr/inria-00548511

F. Kaplan, Talking AIBO : First experimentation of verbal interactions with an autonomous four-legged robot, Proceedings of the CELE-Twente workshop on interacting agents, 2000.

E. John, P. S. Laird, and . Rosenbloom, The evolution of the soar architecture, 1994.

S. Lazebnik, C. Schmid, and J. Ponce, Beyond Bags of Features: Spatial Pyramid Matching for Recognizing Natural Scene Categories, 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Volume 2 (CVPR'06), pp.2169-2178, 2006.
DOI : 10.1109/CVPR.2006.68

URL : https://hal.archives-ouvertes.fr/inria-00548585

M. Thomas and . Lehmann, A two-stage algorithm for model-based registration of medical images, Proceedings of the 14th International Conference on Pattern Recognition, p.344, 1998.

H. Ling and K. Okada, Diffusion distance for histogram comparison, Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp.246-253, 2006.

D. G. Lowe, Distinctive Image Features from Scale-Invariant Keypoints, International Journal of Computer Vision, vol.60, issue.2, pp.91-110, 2004.
DOI : 10.1023/B:VISI.0000029664.99615.94

A. Manzanera, Morphological segmentation on the programmable retina : towards mixed synchronous/asynchronous algorithms, Proceedings of 6th International Symposium on Mathematical Morphology (ISMM'02), pp.389-399, 2002.
URL : https://hal.archives-ouvertes.fr/hal-01222701

J. Dalit, L. J. Matatyaho, and . Gogate, The role of motion in maternal bimodal naming to preverbal infants, International conference on developmental learning, 2006.

J. Mccarthy and P. J. Hayes, Some Philosophical Problems from the Standpoint of Artificial Intelligence, Machine Intelligence 4, pp.463-502, 1969.
DOI : 10.1016/B978-0-934613-03-3.50033-7

L. Michael, Concept formation and language sharing : Combining steels' language games with simple competitive learning, 2002.

M. Minsky, Steps toward Artificial Intelligence, Proceedings of the IRE, vol.49, issue.1, 1960.
DOI : 10.1109/JRPROC.1961.287775

M. Minsky, Why people think computers can't. AI Magazine, 1982.

F. Moosmann, D. Larlus, and F. Jurie, Learning saliency maps for object categorization In ECCV International Workshop on The Representation and Use of Prior Knowledge in Vision, 2006.

F. Moosmann, B. Triggs, and F. Jurie, Fast discriminative visual codebooks using randomized clustering forests, NIPS, pp.985-992, 2006.
URL : https://hal.archives-ouvertes.fr/hal-00203734

E. Murphy-chutorian, S. Aboutalib, and J. Triesch, Analysis of a biologically-inspired system for real-time object recognition, Cognitive Science Online, vol.32, pp.1-14, 2005.

D. Nistér and H. Stewénius, Scalable Recognition with a Vocabulary Tree, 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Volume 2 (CVPR'06), pp.2161-2168, 2006.
DOI : 10.1109/CVPR.2006.264

M. Stephen and . Omohundro, Five balltree construction algorithms, 1989.

A. Opelt, A. Pinz, M. Fussenegger, and P. Auer, Generic object recognition with boosting, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.28, issue.3, pp.416-431, 2006.
DOI : 10.1109/TPAMI.2006.54

P. Oudeyer, How Phonological Structures Can Be Culturally Selected for Learnability, Adaptive Behavior, vol.13, issue.4, pp.269-280, 2005.
DOI : 10.1177/105971230501300407

P. Oudeyer, F. Kaplan, and V. V. Hafner, Intrinsic Motivation Systems for Autonomous Mental Development, IEEE Transactions on Evolutionary Computation, vol.11, issue.2, pp.265-286, 2007.
DOI : 10.1109/TEVC.2006.890271

L. Priese and V. Rehrmann, A Fast Hybrid Color Segmentation Method, DAGM-Symposium, pp.297-304, 1993.
DOI : 10.1007/978-3-642-78546-7_35

T. Quack, V. Ferrari, and L. J. Van-gool, Video Mining with Frequent Itemset Configurations, International Conference on Image and Video Retreival (CIVR), pp.360-369, 2006.
DOI : 10.1007/11788034_37

URL : https://hal.archives-ouvertes.fr/inria-00548580

F. Rosenblatt, The perceptron: A probabilistic model for information storage and organization in the brain., Psychological Review, vol.65, issue.6, pp.386-408, 1958.
DOI : 10.1037/h0042519

Y. Rubner, C. Tomasi, and L. J. Guibas, A metric for distributions with applications to image databases, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271), pp.59-66, 1998.
DOI : 10.1109/ICCV.1998.710701

J. Searle, Minds, brains, and programs, Behavioral and Brain Sciences, vol.9, issue.03, pp.417-421, 1980.
DOI : 10.1080/00201747908601876

J. Sivic, B. C. Russell, A. A. Efros, A. Zisserman, and W. T. Freeman, Discovering object categories in image collections, International Conference on Computer Vision, 2005.

J. Sivic and A. Zisserman, Video Google: a text retrieval approach to object matching in videos, Proceedings Ninth IEEE International Conference on Computer Vision, pp.1470-1477, 2003.
DOI : 10.1109/ICCV.2003.1238663

L. B. Smith, C. M. Gasser, and . Sandhofer, Perceptual learning. The psychology of learning and motivation chapter Learning to talk about the properties of objects : A network model of the development of dimensions, pp.219-255, 1999.

D. Squire, W. Muller, H. Muller, and J. Raki, Content-based query of image databases: inspirations from text retrieval, The 10th Scandinavian Conference on Image Analysis (SCIA'99), 1999.
DOI : 10.1016/S0167-8655(00)00081-7

L. Steels, The symbol grounding problem is solved, so what's next ?, Symbols, embodiment and meaning, 2007.

L. Steels, The talking heads experiment. LABORATORIUM,antwerpen, 1999.

L. Steels, The origins of syntax in visually grounded robotic agents, Artificial Intelligence, vol.103, issue.1-2, pp.133-156, 1998.
DOI : 10.1016/S0004-3702(98)00066-6

L. Steels and J. Baillie, Shared grounding of event descriptions by autonomous robots, Robotics and Autonomous Systems, vol.43, issue.2-3, pp.163-173, 2003.
DOI : 10.1016/S0921-8890(02)00357-3

M. Taddeo and L. Floridi, Solving the symbol grounding problem: a critical review of fifteen years of research, Journal of Experimental & Theoretical Artificial Intelligence, vol.6, issue.4, pp.419-445, 2005.
DOI : 10.1016/S1389-0417(02)00051-7

P. Vogt, The emergence of compositional structures in perceptualy grounded language games. Artificial intelligence, special issue on connecting languages to the world, 2005.

P. Vogt, Lexicon Grounding on Mobile Robots, 2000.

P. Vogt, Minimum cost and the emergence of the zipf-mandelbrot law, Artificial Life IX : Proceedings of the Ninth International Conference on the Simulation and Synthesis of Living Systems, 2004.

P. Vogt and H. Coumans, Investigating social interaction strategies for bootstrapping lexicon development, Journal of Artificial Societies and Social Simulation, vol.6, issue.1, 2003.

P. Vogt and F. Divina, Language evolution in large populations of autonomous agents : issues in scaling, Proceedings of AISB 2005 : Social Intelligence and Interaction in Animals, Robots and Agents, 2005.

M. Werman and D. Weinshall, Similarity and affine invariant distances between 2D point sets, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.17, issue.8, pp.810-814, 1995.
DOI : 10.1109/34.400572

G. Wolberg and S. Zokai, Robust image registration using log-polar transform, Proceedings 2000 International Conference on Image Processing (Cat. No.00CH37101), pp.493-496, 2000.
DOI : 10.1109/ICIP.2000.901003

B. Zitova and J. Flusser, Image registration methods: a survey, Image and Vision Computing, vol.21, issue.11, pp.977-1000, 2003.
DOI : 10.1016/S0262-8856(03)00137-9